# 3D Spatial Grounding on SUN RGB-D

Source: [3D Spatial Grounding on SUN RGB-D](<https://www.sota2.com/research/sota/3d-spatial-grounding-on-sun-rgb-d>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:23:14.658Z

Evaluation of 3D Spatial Grounding performance on the SUN RGB-D dataset, utilizing metrics like AP15.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Spatial Grounding |
| Dataset (including any stated split) | SUN RGB-D |
| Metric | AP15 |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 10 of 10 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AP15](<https://www.sota2.com/research/sota/3d-spatial-grounding-on-sun-rgb-d.md?metric=AP15>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP15 | Result date | Report paper |
| --- | --- | --- | --- |
| Gemini Robotics-ER | 48.3 | Not recorded | 699d30a56017c4460ffab595 |
| Pose-VLA | 45.5 | Not recorded | 699d30a56017c4460ffab595 |
| VST-RL | 40.1 | Not recorded | 699d30a56017c4460ffab595 |
| Qwen3-VL | 39.4 | Not recorded | 699d30a56017c4460ffab595 |
| VST-SFT | 37.3 | Not recorded | 699d30a56017c4460ffab595 |
| Qwen3-VL | 34.9 | Not recorded | 699d30a56017c4460ffab595 |
| Qwen3-VL | 34.7 | Not recorded | 699d30a56017c4460ffab595 |
| Qwen3-VL | 33.8 | Not recorded | 699d30a56017c4460ffab595 |
| Seed1.5-VL | 33.5 | Not recorded | 699d30a56017c4460ffab595 |
| Gemini-2.0-Pro | 32.5 | Not recorded | 699d30a56017c4460ffab595 |

### Gemini Robotics-ER

AP15: 48.3. Result ID: 699e536c5698665ec4130897.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77a21e209131cea747ed.md>)

Recorded evaluation configuration: {"Category":"Closed Source"}. This record does not assert independent reproduction.

### Pose-VLA

AP15: 45.5. Result ID: 699e536c5698665ec4130898.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

Recorded evaluation configuration: {"Category":"Ours","Parameters":"3B"}. This record does not assert independent reproduction.

### VST-RL

AP15: 40.1. Result ID: 699e536c5698665ec4130894.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171712828b7cc6937d56e.md>)

[Implementation](<https://github.com/Yangr116/VST>)

Recorded evaluation configuration: {"Category":"Open Source","Parameters":"3B"}. This record does not assert independent reproduction.

### Qwen3-VL

AP15: 39.4. Result ID: 699e536c5698665ec4130890.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

Recorded evaluation configuration: {"Category":"Open Source","Variant":"235B, Instruct"}. This record does not assert independent reproduction.

### VST-SFT

AP15: 37.3. Result ID: 699e536c5698665ec4130893.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171712828b7cc6937d56e.md>)

[Implementation](<https://github.com/Yangr116/VST>)

Recorded evaluation configuration: {"Category":"Open Source","Parameters":"3B"}. This record does not assert independent reproduction.

### Qwen3-VL

AP15: 34.9. Result ID: 699e536c5698665ec413088f.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

Recorded evaluation configuration: {"Category":"Open Source","Variant":"235B, Thinking"}. This record does not assert independent reproduction.

### Qwen3-VL

AP15: 34.7. Result ID: 699e536c5698665ec4130891.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

Recorded evaluation configuration: {"Category":"Open Source","Variant":"4B, Instruct"}. This record does not assert independent reproduction.

### Qwen3-VL

AP15: 33.8. Result ID: 699e536c5698665ec4130892.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

Recorded evaluation configuration: {"Category":"Open Source","Variant":"2B, Instruct"}. This record does not assert independent reproduction.

### Seed1.5-VL

AP15: 33.5. Result ID: 699e536c5698665ec4130895.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78791e209131cea788a1.md>)

Recorded evaluation configuration: {"Category":"Closed Source"}. This record does not assert independent reproduction.

### Gemini-2.0-Pro

AP15: 32.5. Result ID: 699e536c5698665ec4130896.

[Reporting paper](<https://www.sota2.com/research/paper/699d30a56017c4460ffab595.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c311e209131cea8cef5.md>)

Recorded evaluation configuration: {"Category":"Closed Source"}. This record does not assert independent reproduction.

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