{"id":"https://openalex.org/W7164577801","doi":"https://doi.org/10.48550/arxiv.2606.13040","title":"RoboProcessBench: Benchmarking Process-Aware Understanding in Vision-Language Robotic Manipulation","display_name":"RoboProcessBench: Benchmarking Process-Aware Understanding in Vision-Language Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164577801","doi":"https://doi.org/10.48550/arxiv.2606.13040"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.13040","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108320622","display_name":"Dayu Xia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xia, Dayu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100902783","display_name":"Y Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138549161","display_name":"Yao Mu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mu, Yao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058256157","display_name":"H Q Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Huiting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138505598","display_name":"Chaofan Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Chaofan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138511441","display_name":"Yingjie Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yingjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138510271","display_name":"Hua Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Hua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138551882","display_name":"Yang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090145580","display_name":"Jiezhang Cao","orcid":"https://orcid.org/0000-0002-0050-4714"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Jiezhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138539465","display_name":"Guangtao Zhai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhai, Guangtao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.438400000333786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.438400000333786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4104999899864197,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.05270000174641609,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.850600004196167},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7973999977111816},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7455999851226807},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6466000080108643},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.29170000553131104}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.850600004196167},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7973999977111816},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7455999851226807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919000148773193},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6466000080108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5748999714851379},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4278999865055084},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35839998722076416},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2935999929904938},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2883000075817108},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.13040","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language":[0],"models":[1,21,150],"(VLMs)":[2],"are":[3],"increasingly":[4],"explored":[5],"as":[6,82,184],"visual":[7],"critics,":[8],"reward":[9],"generators,":[10],"and":[11,37,78,97,126,130,165,175,189,200],"failure":[12],"detectors":[13],"in":[14,64],"robotic":[15,66,202],"manipulation.":[16,67],"These":[17,178],"roles":[18],"implicitly":[19],"require":[20],"to":[22,44],"judge":[23],"not":[24],"only":[25],"final":[26],"task":[27,146],"success,":[28],"but":[29],"also":[30],"how":[31],"a":[32,59,190],"manipulation":[33,118,157,203],"execution":[34,104],"is":[35,121],"physically":[36,102],"temporally":[38],"progressing.":[39],"However,":[40],"existing":[41],"evaluations":[42],"fail":[43],"test":[45],"whether":[46],"VLMs":[47,137,196],"possess":[48],"fine-grained":[49],"process":[50],"understanding.":[51],"To":[52],"address":[53],"this":[54],"gap,":[55],"we":[56],"present":[57],"RoboProcessBench,":[58],"benchmark":[60,108,188],"for":[61,128,194],"process-aware":[62,154],"understanding":[63,155],"vision-language":[65],"RoboProcessBench":[68,182],"decomposes":[69],"such":[70],"capability":[71],"into":[72,124],"two":[73],"complementary":[74],"dimensions,":[75],"\\emph{static":[76],"monitoring}":[77],"\\emph{dynamic":[79],"reasoning},":[80],"instantiated":[81],"12":[83,144],"diagnostic":[84,145],"question":[85],"families":[86],"covering":[87],"phase,":[88],"contact,":[89],"motion,":[90,173],"coordination,":[91],"primitive-local":[92],"progress,":[93,174],"temporal":[94],"order,":[95],"outcome,":[96],"primitive-level":[98],"transitions.":[99],"Built":[100],"from":[101],"grounded":[103],"traces,":[105],"the":[106,162],"curated":[107],"corpus":[109],"ProcessData":[110],"contains":[111],"\\textasciitilde":[112],"58k":[113],"question-answer":[114],"pairs":[115],"across":[116,143],"260":[117],"tasks,":[119],"which":[120],"further":[122],"split":[123],"ProcessData-SFT":[125],"ProcessData-Eval":[127,139],"post-training":[129],"evaluation":[131,134,187],"purposes.":[132],"Extensive":[133],"of":[135,156,198],"various":[136],"on":[138,170],"reveals":[140],"broad":[141],"limitations":[142],"families,":[147],"suggesting":[148],"current":[149],"still":[151],"lack":[152],"robust":[153],"executions.":[158],"But":[159],"with":[160],"ProcessData-SFT,":[161],"post-trained":[163],"\\textit{Qwen2.5-VL-7B}":[164],"\\textit{InternVL-3-8B}":[166],"exhibit":[167],"consistent":[168],"gains":[169],"local":[171],"state,":[172],"primitive-aware":[176],"cues.":[177],"results":[179],"demonstrate":[180],"that":[181],"serves":[183],"both":[185],"an":[186],"learnable":[191],"supervision":[192],"source":[193],"developing":[195],"capable":[197],"monitoring":[199],"evaluating":[201],"processes.":[204],"Project":[205],"webpage:":[206],"\\href{https://processbench-2026.github.io/RoboProcessBench-Web/}{https://processbench-2026.github.io}.":[207]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-13T00:00:00"}
