Action Generation on Object OOD
31.2Rule-basedπ0.5
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| π0.5Backbone=frozen2026.06 | 31.2 | 54 | 12 | 8 | 25.1 | 12.9 | 21.9 | 4.5 | |
| OrcaBackbone=frozen, Action Expert=trainable from scratch2026.06 | 28.2 | 46 | 12 | 8 | 21.8 | 10.8 | 27.7 | 3.9 | |
| V-JEPA 2.1Backbone=frozen, Action Expert=trainable from scratch2026.06 | 18.8 | 14 | 2 | 0 | 11.8 | 6.3 | 15.2 | 0 | |
| Qwen3.5Backbone=frozen, Action Expert=trainable from scratch2026.06 | 8.6 | 10 | 0 | 0 | 7.9 | 4 | 4.61 | 0 |