Affordance Grounding on HANDAL easy (test)
63.5gIoUA-Harness
Evaluation results
| Method | Links | ||
|---|---|---|---|
| A-HarnessMCS Setting=w/ MCS-f (HANDAL-easy exemplars, Claude-Sonnet-4.6)2026.05 | 63.5 | 61.8 | |
| A-HarnessMCS Setting=w/ MCS-c (1:1 mixture)2026.05 | 62.7 | 60.4 | |
| A-HarnessMCS Setting=w/ MCS-a (UMD bank)2026.05 | 62.4 | 62.1 | |
| A-HarnessMCS Setting=w/ MCS-d (HANDAL-easy exemplars, GPT-4o)2026.05 | 61.8 | 61.7 | |
| A-HarnessMCS Setting=w/ MCS-b (RAGNet bank)2026.05 | 61.4 | 63.3 | |
| A-HarnessMCS Setting=w/ MCS-g (HANDAL-hard exemplars, Claude-Sonnet-4.6)2026.05 | 60.2 | 58.9 | |
| A-HarnessMCS Setting=w/ MCS-e (HANDAL-hard exemplars, GPT-4o)2026.05 | 59.1 | 61.9 | |
| A-HarnessMCS Setting=w/o MCS2026.05 | 58.4 | 57.6 | |
| AffordanceVLMProtocol=Zero-shot2026.05 | 58.3 | 58.1 | |
| Affordance-R1Protocol=Zero-shot2026.05 | 43.1 | 38.7 | |
| Vision-ReasonerProtocol=Zero-shot2026.05 | 29.6 | 19.8 | |
| LISAProtocol=Zero-shot2026.05 | 15.5 | 11.9 | |
| GLaMMProtocol=Zero-shot2026.05 | 4.7 | 3.5 | |
| G-DINOProtocol=Zero-shot2026.05 | 3.6 | 3 |