ResearchBenchmarksFuture Motion Description on NymeriaFuture Motion Description on NymeriaFollow0.1039BLEU-4Ego3DLM0.0168520.0394510.062050.084649Jul 8, 2026Evaluation resultsMethodMethodLinksBLEU-4BLEU-1ROUGE-LSBERT SimilarityRecall@3DPGEgo3DLM2026.070.10390.38390.30040.620629.116.3507LLMbackbone=Qwen 2.5 7Bbackbone=Qwen 2.5 7B2026.070.02020.0970.23430.61219.46.673