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ResearchFormerly WizWand

Embodied Task Planning on VoTa-Bench (Seen)

84.72SR (Examine&Light)D2PO

Evaluation results

Method	Links
D2PO2025.03		84.72	66.67	84.52	71.27	12.5	10.23	48.21	48.21	66.36	66.36	44.44	44.33	58.11	53.33
DPO2025.03		76.39	59.31	78.57	62.61	12.5	9.97	29.46	25.47	43.93	43.35	36.51	34.24	46.08	39.73
D2PO2025.03		76.39	59.63	88.1	71.32	14.58	12.19	38.39	32.97	48.6	48.26	39.68	38.8	51.18	44.84
DPO2025.03		72.22	56.67	80.95	66.3	10.42	8.47	44.64	44.64	60.75	60.75	44.44	44.04	53.92	49.37
SFT2025.03		70.83	55.24	69.05	57.74	6.25	5.38	26.79	26.04	58.88	58.34	31.75	31.11	44.63	40.33
D2PO2025.03		69.44	52.6	78.57	65.48	22.92	19.6	47.32	47.32	60.75	60.41	44.44	44.33	54.83	50.23
DPO2025.03		66.67	45.77	72.62	59.17	20.83	18.2	44.64	44.64	44.86	44.86	43.65	43.07	49.54	44.38
SFT2025.03		58.33	44.13	72.62	47.04	8.33	6.69	30.36	26.03	46.73	46.73	35.71	31.98	42.99	35.33
SFT2025.03		56.94	45.37	63.1	51.65	12.5	9.81	31.25	31.18	50.47	50.08	30.16	29.34	41.35	37.56
GPT-4o2025.03		41.67	30.6	64.29	45.95	4.17	1.31	1.79	1.79	24.3	23.81	11.9	11.39	23.5	18.78
Gemini-1.5-pro2025.03		34.72	29.38	27.38	12.07	0	0	0	0	7.48	7.37	3.17	1.72	10.93	6.81
Qwen2-VL2025.03		34.72	21.62	39.29	21.81	0	0	0	0	3.97	3.47	0.79	0.56	11.66	7.1
GPT-4o2025.03		33.33	23.37	51.19	36.27	0	0	0	0	8.41	6.55	2.38	2.02	14.39	10.37
Qwen2-VL2025.03		26.39	8.55	14.29	8.22	2.08	0.6	0	0	0	0	0	0	5.83	2.46
Qwen2-VL2025.03		25	9.25	21.43	12.29	0	0	0	0	0	0	0	0	6.56	3.14
GPT-4o-mini2025.03		22.22	10.88	14.29	8.16	0	0	0	0	0	0	0	0	5.1	2.68
LLaVA-1.62025.03		12.5	2.09	7.14	2.67	0	0	0	0	0	0	0	0	2.73	0.68
LLaMA-3.2-Vision2025.03		12.5	2	4.76	0.86	0	0	0	0	0	0	0	0	2.37	0.39
LLaMA-3.2-Vision2025.03		8.33	1.33	3.57	0.57	0	0	0	0	0	0	0	0	1.64	0.26
LLaVA-1.62025.03		1.39	0.22	4.76	0.76	0	0	0	0	0	0	0	0	0.91	0.15
LLaVA-1.62025.03		1.17	0.67	7.14	1.14	0	0	0	0	0	0	0	0	1.64	0.26