Affordance Grounding on HANDAL hard (test)
62.8gIoUA-Harness
Evaluation results
| Method | Links | ||
|---|---|---|---|
| A-HarnessMCS Setting=w/ MCS-c (1:1 mixture)2026.05 | 62.8 | 61.7 | |
| A-HarnessMCS Setting=w/ MCS-b (RAGNet bank)2026.05 | 60.6 | 61 | |
| A-HarnessMCS Setting=w/ MCS-g (HANDAL-hard exemplars, Claude-Sonnet-4.6)2026.05 | 59.4 | 59.1 | |
| AffordanceVLMProtocol=Zero-shot2026.05 | 58.2 | 57.8 | |
| A-HarnessMCS Setting=w/ MCS-e (HANDAL-hard exemplars, GPT-4o)2026.05 | 57.9 | 56.5 | |
| A-HarnessMCS Setting=w/o MCS2026.05 | 55.3 | 55.1 | |
| A-HarnessMCS Setting=w/ MCS-f (HANDAL-easy exemplars, Claude-Sonnet-4.6)2026.05 | 55.2 | 49.7 | |
| A-HarnessMCS Setting=w/ MCS-a (UMD bank)2026.05 | 49.8 | 47.4 | |
| A-HarnessMCS Setting=w/ MCS-d (HANDAL-easy exemplars, GPT-4o)2026.05 | 48 | 42.5 | |
| Affordance-R1Protocol=Zero-shot2026.05 | 40.7 | 37.9 | |
| Vision-ReasonerProtocol=Zero-shot2026.05 | 27.7 | 16.7 | |
| LISAProtocol=Zero-shot2026.05 | 12.3 | 8.1 | |
| GLaMMProtocol=Zero-shot2026.05 | 5 | 3.5 | |
| G-DINOProtocol=Zero-shot2026.05 | 3.4 | 3.1 |