# Affordance Grounding on UMD (test) Source: [Affordance Grounding on UMD (test)]() Collection index: [llms.txt]() Data updated: 2026-05-04T07:51:32.660Z Evaluation of Affordance Grounding performance on the test split of the UMD dataset, measured using gIoU, cIoU, P50, and P50-95. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Affordance Grounding | | Dataset (including any stated split) | UMD (test) | | Metric | gIoU | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 18 of 18 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [gIoU](): Higher is better; unit: PERCENT. - [cIoU](): Higher is better; unit: PERCENT. - [P50](): Higher is better; unit: PERCENT. - [P50-95](): Higher is better; unit: PERCENT. ## Recorded results | Method | gIoU | Result date | Report paper | | --- | --- | --- | --- | | A-Harness | 57.61 | Not recorded | 69f827e7c0f56ed8430888ed | | A-Harness | 54.94 | Not recorded | 69f827e7c0f56ed8430888ed | | A-Harness | 54.28 | Not recorded | 69f827e7c0f56ed8430888ed | | A-Harness | 53.72 | Not recorded | 69f827e7c0f56ed8430888ed | | A-Harness | 52.74 | Not recorded | 69f827e7c0f56ed8430888ed | | A-Harness | 51.33 | Not recorded | 69f827e7c0f56ed8430888ed | | Full Fixed Skill Chain | 50.19 | Not recorded | 69f827e7c0f56ed8430888ed | | Affordance-R1 | 49.85 | Not recorded | 69f827e7c0f56ed8430888ed | | Only w/ Det. & Seg. skills | 46.53 | Not recorded | 69f827e7c0f56ed8430888ed | | Seg-Zero | 44.26 | Not recorded | 69f827e7c0f56ed8430888ed | | Vision Reasoner | 44 | Not recorded | 69f827e7c0f56ed8430888ed | | AffordanceLLM | 43.11 | Not recorded | 69f827e7c0f56ed8430888ed | | LISA-7B | 41.9 | Not recorded | 69f827e7c0f56ed8430888ed | | ConverSeg | 33.27 | Not recorded | 69f827e7c0f56ed8430888ed | | Qwen2.5VL-7B | 33.21 | Not recorded | 69f827e7c0f56ed8430888ed | | InternVL3-7B | 30.46 | Not recorded | 69f827e7c0f56ed8430888ed | | AffordanceVLM | 25.41 | Not recorded | 69f827e7c0f56ed8430888ed | | SAM4MLLM | 12.4 | Not recorded | 69f827e7c0f56ed8430888ed | ### A-Harness gIoU: 57.61. Result ID: 69f84fef47f34ce924dbc45b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"Qwen-3.5-397B-A17B"}. This record does not assert independent reproduction. ### A-Harness gIoU: 54.94. Result ID: 69f84fef47f34ce924dbc460. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"Claude-Opus-4.6"}. This record does not assert independent reproduction. ### A-Harness gIoU: 54.28. Result ID: 69f84fef47f34ce924dbc45e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"GLM-5"}. This record does not assert independent reproduction. ### A-Harness gIoU: 53.72. Result ID: 69f84fef47f34ce924dbc45f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"Claude-Sonnet-4.6"}. This record does not assert independent reproduction. ### A-Harness gIoU: 52.74. Result ID: 69f84fef47f34ce924dbc45d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"GPT-4o"}. This record does not assert independent reproduction. ### A-Harness gIoU: 51.33. Result ID: 69f84fef47f34ce924dbc45c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Harness Setup":"w/ A-Harness","Decision Brain":"Gemini-3-flash"}. This record does not assert independent reproduction. ### Full Fixed Skill Chain gIoU: 50.19. Result ID: 69f84fef47f34ce924dbc45a. [Reporting paper]() Recorded evaluation configuration: {"Harness Setup":"w/o A-Harness"}. This record does not assert independent reproduction. ### Affordance-R1 gIoU: 49.85. Result ID: 69f84fef47f34ce924dbc457. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Only w/ Det. & Seg. skills gIoU: 46.53. Result ID: 69f84fef47f34ce924dbc459. [Reporting paper]() Recorded evaluation configuration: {"Harness Setup":"w/o A-Harness"}. This record does not assert independent reproduction. ### Seg-Zero gIoU: 44.26. Result ID: 69f84fef47f34ce924dbc455. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Vision Reasoner gIoU: 44. Result ID: 69f84fef47f34ce924dbc456. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AffordanceLLM gIoU: 43.11. Result ID: 69f84fef47f34ce924dbc451. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LISA-7B gIoU: 41.9. Result ID: 69f84fef47f34ce924dbc44f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ConverSeg gIoU: 33.27. Result ID: 69f84fef47f34ce924dbc458. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Qwen2.5VL-7B gIoU: 33.21. Result ID: 69f84fef47f34ce924dbc453. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### InternVL3-7B gIoU: 30.46. Result ID: 69f84fef47f34ce924dbc452. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AffordanceVLM gIoU: 25.41. Result ID: 69f84fef47f34ce924dbc454. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SAM4MLLM gIoU: 12.4. Result ID: 69f84fef47f34ce924dbc450. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.