Plans to support additional robots (e.g., Hello Robot Stretch)?

[shinmohuang]

Hi team — fantastic work on VLABench!

In the paper I noticed references to mobile robots and saw the Hello Robot Stretch in the appendix. Do you have plans to add official support/adapters for robots beyond what’s currently in the repo (e.g., Stretch, in simulation)?

[Shiduo-zh]

Hi! I’ve actually tried implementing new embodiments such as the Widow, XArm, and even humanoid configurations before. As you mentioned, this typically requires defining a new controller class to handle the corresponding kinematics and control pipeline.

I’ve already included robust support for a wider range of robot types in the roadmap for the VLABench 2.0 release. It will come with a cleaner controller abstraction layer, making it easier and more consistent to add new embodiments.

I’m working on it, and I hope to share it with everyone soon. Thanks again for your interest and great question!