ResearchBenchmarksCross-domain demo-to-code on Obstruction and Object affordance Low-ComplexityCross-domain demo-to-code on Obstruction and Object affordance Low-ComplexityFollow86.67Success Rate (SR)NESYCR24.2740.4756.6772.87Mar 19, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Goal Completion (GC)Parsing Distance (PD)NESYCR2026.0386.6792.51.92GPT4V-Robotics2026.0371.6782.529.15Statler2026.0361.6775.8338.92MoReVQA2026.0353.3371.6732.29LLM-DM2026.0351.6767.566.02Critic-V2026.034565.8310.37Demo2Code2026.0326.67555