Affordance Grounding on 3DOI (test)
65.6gIoUA-Harness
Evaluation results
| Method | Links | ||
|---|---|---|---|
| A-HarnessMCS Setting=w/ MCS-f (HANDAL-easy exemplars, Claude-Sonnet-4.6)2026.05 | 65.6 | 53.7 | |
| A-HarnessMCS Setting=w/ MCS-d (HANDAL-easy exemplars, GPT-4o)2026.05 | 64.1 | 52.8 | |
| A-HarnessMCS Setting=w/ MCS-b (RAGNet bank)2026.05 | 63.8 | 52 | |
| A-HarnessMCS Setting=w/ MCS-g (HANDAL-hard exemplars, Claude-Sonnet-4.6)2026.05 | 62.2 | 52.1 | |
| A-HarnessMCS Setting=w/ MCS-e (HANDAL-hard exemplars, GPT-4o)2026.05 | 61.2 | 51.3 | |
| A-HarnessMCS Setting=w/ MCS-c (1:1 mixture)2026.05 | 59.3 | 45.4 | |
| A-HarnessMCS Setting=w/ MCS-a (UMD bank)2026.05 | 57.9 | 50.9 | |
| A-HarnessMCS Setting=w/o MCS2026.05 | 56.5 | 47.2 | |
| Vision-ReasonerProtocol=Zero-shot2026.05 | 39.6 | 30.3 | |
| Affordance-R1Protocol=Zero-shot2026.05 | 39 | 33.4 | |
| AffordanceVLMProtocol=Zero-shot2026.05 | 38.1 | 39.4 | |
| LISAProtocol=Zero-shot2026.05 | 12.3 | 8.1 | |
| GLaMMProtocol=Zero-shot2026.05 | 4.4 | 2.9 | |
| G-DINOProtocol=Zero-shot2026.05 | 4.1 | 3.9 |