ResearchBenchmarksFinger-specific Affordance Grounding on Finger-Specific Affordance Grounding BenchmarkFinger-specific Affordance Grounding on Finger-Specific Affordance Grounding BenchmarkFollow2.491KLDFSAG2.143284.490396.83759.18461Jan 13, 2026Evaluation resultsMethodMethodLinksKLDSimilarity ScoreNSSFSAGVariant=Stable Diffusi...Variant=Stable Diffusion (SD)2026.012.4910.5515.518FSAGVariant=DINOVariant=DINO2026.013.3010.4735.016FSAGVariant=CLIPVariant=CLIP2026.016.690.3553.815ReKep2026.0110.1270.1731.801CMKA2026.0111.1840.1771.861