| license: mit | |
| Paper: https://arxiv.org/abs/2506.23725 | |
| ## Download | |
| Grab the full dataset as a single tarball and expand it locally: | |
| ```bash | |
| wget https://huggingface.co/datasets/lens-lab/pacbench/resolve/main/pacbench-20250218.tar.gz | |
| tar -xzf pacbench-20250218.tar.gz | |
| ``` | |
| After extraction you will get the `pacbench/` directory with the same structure used on the Hub (constraint images, humanoid captures, open images, RoboCasa objects, metadata, etc.). | |
| If you prefer the classic Hub workflow, the original files remain accessible via `hf download lens-lab/pacbench --repo-type dataset`, although non-pro account requests may be rate limited. | |
| ## Citation | |
| Please cite **PAC Bench** if you use this benchmark or framework in your research: | |
| ```bibtex | |
| @inproceedings{pacbench2025, | |
| title = {PAC Bench: Do Foundation Models Understand Prerequisites for Executing Manipulation Policies?}, | |
| author = {Atharva Gundawar and Som Sagar and Ransalu Senanayake}, | |
| booktitle = {NeurIPS 2025 Datasets and Benchmarks Track}, | |
| year = {2025} | |
| } | |
| ``` | |