RoboIRGBench: Benchmarking Implicit Referential Grounding in Vision-Language-Action Models

arXiv:2609.34384 · cs.RO, cs.CV · Submitted 2026-09-28 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-28

Updated: 2026-09-28

Project page: https://aernar.github.io/RoboIRGBench

Terminology

• Grounding — 83× in this paper · explained in 3 episodes
• Benchmark — 31× in this paper · explained in 2 episodes
• Implicit Referential Grounding — 17× in this paper
• Robustness — 16× in this paper · explained in 5 episodes
• Benchmarking — 5× in this paper · explained in 3 episodes
• VLA Models — 4× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Primitives — 1× in this paper · explained in 1 episode
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• LIBERO-VPro: Benchmarking Closed-Loop Visual Robustness of Robotic Foundation Models

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