Affordance Grounding on A2A-Bench Single-instance 1.0 (test)
81.91gIoUA2A-AffordGen
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| A2A-AffordGenGrounding source=Iterative points2026.06 | 81.91 | 80.55 | 90.58 | 75 | |
| LISA-7B (finetune)Grounding source=MLLM mask, Protocol=finetune2026.06 | 68.25 | 76.44 | 74.75 | 56.04 | |
| Qwen3-VL-32B-Instruct+SAM3Grounding source=VLM box2026.06 | 59.25 | 63.33 | 66.83 | 50.74 | |
| Qwen3.5-9B+SAM3Grounding source=VLM box2026.06 | 57.04 | 71.97 | 61.88 | 46.83 | |
| SAM3+textGrounding source=Text only2026.06 | 44.58 | 46.07 | 48.02 | 38.71 | |
| GroundingDINO+SAM3Grounding source=Open-vocab. box2026.06 | 41.87 | 30.27 | 41.09 | 29.65 | |
| LISA-7BGrounding source=MLLM mask2026.06 | 25.83 | 31.27 | 24.75 | 13.51 | |
| Segagent (Qwen-VL-7B+SAM)Grounding source=Iterative points2026.06 | 21.62 | 19.51 | 17.82 | 10.1 |