Affordance Prediction on AGD20K (unseen)
0.905KLDAffordVLA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| AffordVLASupervision=Zero-shot2026.05 | 0.905 | 49.6 | 1.906 | |
| Espresso-2DSupervision=Fully2026.05 | 1.034 | 50.3 | 1.55 | |
| OOALSupervision=Fully2026.05 | 1.07 | 46.1 | 1.503 | |
| WSAG-PLSPSupervision=Weakly2026.05 | 1.153 | 43.7 | 1.418 | |
| AffordanceSAMSupervision=Fully2026.05 | 1.271 | 48.6 | 1.597 | |
| R-MambaSupervision=Weakly2026.05 | 1.31 | 39.7 | 1.279 | |
| BiT-AlignSupervision=Weakly2026.05 | 1.331 | 37.1 | 1.302 | |
| WSMASupervision=Weakly2026.05 | 1.335 | 38.2 | 1.22 | |
| INTRASupervision=Weakly2026.05 | 1.365 | 37.5 | 1.209 | |
| LOCATESupervision=Weakly2026.05 | 1.405 | 37.2 | 1.157 | |
| LOCATE2026.06 | 1.405 | 0.372 | 1.157 | |
| AffordanceLLMSupervision=Fully2026.05 | 1.463 | 37.7 | 1.07 | |
| AffordanceLLM2026.06 | 1.463 | 0.377 | 1.07 | |
| GROW22026.06 | 1.506 | 0.418 | 1.334 | |
| Espresso-2DSupervision=Zero-shot2026.05 | 1.571 | 37.6 | 1.016 | |
| AffCorrsSupervision=Weakly2026.05 | 1.618 | 34.8 | 1.021 | |
| Cross-View-AGSupervision=Weakly2026.05 | 1.787 | 28.5 | 0.829 | |
| Cross-View-AG2026.06 | 1.787 | 0.285 | 0.829 | |
| LISA-7BSupervision=Zero-shot2026.05 | 1.83 | 25.6 | 0.765 | |
| UADSupervision=Zero-shot2026.05 | 1.878 | 40.7 | 1.092 | |
| UAD2026.06 | 1.878 | 0.407 | 1.092 | |
| M2SA-7BSupervision=Zero-shot2026.05 | 1.926 | 22.7 | 0.657 | |
| Molmo + SAMSupervision=Zero-shot2026.05 | 1.953 | 22.6 | 0.718 | |
| InteractionHotspotsSupervision=Weakly2026.05 | 1.994 | 23.7 | 0.577 | |
| 3DOISupervision=Fully2026.05 | 3.565 | 22.7 | 0.657 | |
| 3DOI2026.06 | 3.565 | 0.227 | 0.657 |