Affordance Grounding on UMD (test)
57.61gIoUA-Harness
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=Qwen-3.5-397B-A17B2026.05 | 57.61 | 53.39 | 67.71 | 37.44 | |
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=Claude-Opus-4.62026.05 | 54.94 | 55.04 | 64.67 | 36.8 | |
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=GLM-52026.05 | 54.28 | 54.06 | 61.76 | 33.94 | |
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=Claude-Sonnet-4.62026.05 | 53.72 | 51.15 | 62.5 | 33.31 | |
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=GPT-4o2026.05 | 52.74 | 50.04 | 57.62 | 29.85 | |
| A-HarnessHarness Setup=w/ A-Harness, Decision Brain=Gemini-3-flash2026.05 | 51.33 | 46.49 | 53.6 | 28.17 | |
| Full Fixed Skill ChainHarness Setup=w/o A-Harness2026.05 | 50.19 | 49.24 | 55.88 | 29.75 | |
| Affordance-R12026.05 | 49.85 | 42.24 | 53.35 | 34.08 | |
| Only w/ Det. & Seg. skillsHarness Setup=w/o A-Harness2026.05 | 46.53 | 37.77 | 53.24 | 30.56 | |
| Seg-Zero2026.05 | 44.26 | 39.3 | 39.93 | 16.53 | |
| Vision Reasoner2026.05 | 44 | 39.71 | 39.04 | 16.1 | |
| AffordanceLLM2026.05 | 43.11 | 38.97 | 41.56 | 22.36 | |
| LISA-7B2026.05 | 41.9 | 41.23 | 39.65 | 19.33 | |
| ConverSeg2026.05 | 33.27 | 10.37 | 32.63 | 13.59 | |
| Qwen2.5VL-7B2026.05 | 33.21 | 29.83 | 25.17 | 10.45 | |
| InternVL3-7B2026.05 | 30.46 | 28.73 | 18.67 | 9.94 | |
| AffordanceVLM2026.05 | 25.41 | 17.96 | 9.37 | 25.1 | |
| SAM4MLLM2026.05 | 12.4 | 8.41 | 4.12 | 0.05 |