Embodied task planning on BEHAVIOR-1K B-1000 1.0
97.3Success Rate (SP)D-SFT+DAPO+Short-RL+GroupAdapt (τ=0.5)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| D-SFT+DAPO+Short-RL+GroupAdapt (τ=0.5)Size=8B, Prompt style=Guided extended-BDDL, Decoding seeds=3, τ=0.52026.06 | 97.3 | 97.3 | 99.39 | 0.2 | |
| D-SFT+DAPO+Short-RLSize=8B, Prompt style=Guided extended-BDDL, Decoding seeds=32026.06 | 96.9 | 96.9 | 99.23 | 0 | |
| D-SFT+DAPOSize=8B, Prompt style=Guided extended-BDDL, Decoding seeds=32026.06 | 96.2 | 96.2 | 98.64 | 0.2 | |
| DeepSeek-V4-FlashSize=284B, Prompt style=Guided extended-BDDL2026.06 | 93.8 | 96.9 | 98.36 | 3.6 | |
| GPT-5.4Prompt style=Guided extended-BDDL2026.06 | 92.8 | 93.8 | 95.34 | 1 | |
| Gemma-4-31B-ITSize=31B, Prompt style=Guided extended-BDDL2026.06 | 92.8 | 95.4 | 96.49 | 4.6 | |
| Kimi-K2.6Size=1T, Prompt style=Guided extended-BDDL2026.06 | 92.3 | 95.9 | 96.88 | 4.6 | |
| D-SFTSize=8B, Prompt style=Guided extended-BDDL, Decoding seeds=32026.06 | 92.3 | 95.9 | 98.32 | 4.1 | |
| Qwen3.6-27BSize=27B, Prompt style=Guided extended-BDDL2026.06 | 91.2 | 94.8 | 97.21 | 4.1 | |
| GLM-5.1Size=754B, Prompt style=Guided extended-BDDL2026.06 | 90.7 | 94.3 | 96.88 | 6.2 | |
| DeepSeek-V4-ProSize=1.6T, Prompt style=Guided extended-BDDL2026.06 | 89.7 | 94.8 | 96.92 | 6.2 | |
| Qwen3.6-35B-A3BSize=35B, Prompt style=Guided extended-BDDL2026.06 | 88.1 | 93.3 | 95.17 | 9.3 | |
| Gemini-3.1-ProPrompt style=Guided extended-BDDL2026.06 | 87.1 | 87.6 | 89.39 | 0.5 | |
| Qwen3.5-122B-A10BSize=122B, Prompt style=Guided extended-BDDL2026.06 | 86.6 | 90.7 | 93.8 | 7.2 | |
| Qwen3.5-27BSize=27B, Prompt style=Guided extended-BDDL2026.06 | 83 | 89.7 | 93.71 | 12.4 | |
| Qwen3-8BSize=8B, Prompt style=Guided extended-BDDL2026.06 | 77.3 | 83 | 89.84 | 13.4 | |
| Qwen3.5-35B-A3BSize=35B, Prompt style=Guided extended-BDDL2026.06 | 76.3 | 90.7 | 93.14 | 19.1 |