| Paper | Code | 6-DoF | pos-level1 | pos-level0 | rot-level0 | rot-level1 | rot-level2 | ModelName | ReleaseDate |
|---|---|---|---|---|---|---|---|---|---|
| SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation | ✓ Link | 48.7 | 81.5 | 96.0 | 68.6 | 42.2 | 70.1 | SoFar | 2025-02-18 |
| Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach | ✓ Link | 35.6 | 78.6 | 60.3 | 45.7 | 32.5 | 49.8 | Open6DOR | 2024-10-24 |
| Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models | 13.5 | 17.2 | 11.0 | 37.3 | 27.6 | 26.2 | Dream2Real | 2023-12-07 | |
| GPT-4 Technical Report | ✓ Link | - | 46.8 | 39.1 | 9.1 | 6.9 | 11.7 | GPT-4V | 2023-03-15 |
| VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models | ✓ Link | - | 35.6 | 21.7 | - | - | - | VoxPoser | 2023-07-12 |