README.md

Main library

Structure and usage:

• experiments/: experiment scripts for the benchmark. The two main entry points are:
  • benchmark_vlm_as_grounder.py — VLM-as-Grounder experiments (works with any environment)
  • benchmark_vlm_as_planner.py — VLM-as-Planner experiments (works with any environment)
  • benchmark_igibson_oracle.py — Oracle planner baseline for iGibson
  • vlm_grounder/ — helper modules for the VLM-as-Grounder pipeline (state management, checks, planning, VLM queries)
• models/: all model classes, most models are implemented with either transformers or vLLM. Extend them to add more models
• planning/: code for the blocksworld simulated environment and the iGibson client
• rendering/: code for the blocksworld renderer
• code_helpers.py: shared utilities (model loading, domain configuration, logging)

We recommend looking at experiments/ to get started. See the main README for usage examples and experiment variants.

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