BURGER: Benchmarking and Understanding Robotic Generalization via Embodied Drawing

We introduce BURGER, a language-conditioned robotic drawing benchmark with a scalable, prompt-driven pipeline for generating continuous drawing trajectories, both in simulation and the real world. It comes from a paper posted to arXiv on 30 October 2026. How effectively can vision-language-action (VLA) models learn diverse language-conditioned behaviors as training data scales? Investigating this question requires large and varied robot datasets, whose collection on physical robots remains costly. In BURGER, an agent starts from the same blank canvas and controls a robot arm to draw the object or spatial composition specified by language, while each instruction allows an open-ended variety of valid drawings and stroke orders. Using 28,200 simulated demonstrations spanning 282 drawing tasks, we evaluate five representative VLA models across data scales, language grounding, and multimodal behavior. BURGER supports fine-grained analysis of language grounding, spatial composition, and action generation, revealing distinct failure patterns across VLA models. Our experiments suggest that some VLA models can benefit from greater task diversity and demonstration scale, capture multimodal drawing behaviors, and generalize to unseen compositions of familiar objects. Finally, we deploy a trained policy on a Franka Panda arm, demonstrating the ability to draw reactively under human intervention. Project homepage and code can be found at https://siyingzhao.github.io/BURGER/.

Why it counts

We introduce BURGER, a language-conditioned robotic drawing benchmark with a scalable, prompt-driven pipeline for generating continuous drawing trajectories, both in simulation and the real world.

Sources

Primary source: primary source

What is not known

This brief does not claim independent replication. Claims that appear only on X and not in the primary source stay unknown.