Multimodal Retrieval on WholeHouse-MM (test)
32.8Target Object Recall@5Affordance RAG
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Affordance RAGZero-shot=true2025.12 | 32.8 | 49.9 | 61.7 | 14.8 | 24.3 | 30.2 | 23.8 | 37.1 | 45.9 | |
| BLIP-2Backbone=ViT-g, Zero-shot=true2025.12 | 30.2 | 40.7 | 48 | 5.2 | 10.3 | 19.9 | 17.7 | 25.5 | 34 | |
| BEiT-3Backbone=large, Zero-shot=true2025.12 | 29 | 42.1 | 53.8 | 8.9 | 15.4 | 27.6 | 19 | 28.7 | 40.7 | |
| Long-CLIPBackbone=ViT-L/14, Zero-shot=true2025.12 | 24.6 | 36.1 | 48.5 | 3.5 | 9.2 | 19.9 | 14 | 22.6 | 34.2 | |
| RelaX-FormerZero-shot=false2025.12 | 17.9 | 26.5 | 37.7 | 8.8 | 19.8 | 28.4 | 13.3 | 23.2 | 33 | |
| CLIPBackbone=ViT-L/14, Zero-shot=true2025.12 | 15.7 | 24.2 | 33.6 | 6.2 | 11.7 | 21.7 | 10.9 | 18 | 27.7 | |
| NLMapReproduced=true, Zero-shot=true2025.12 | 15.1 | 19.2 | 30.4 | 7.3 | 15.1 | 23.6 | 11.2 | 17.2 | 27 | |
| Embodied-RAGZero-shot=true2025.12 | 15.1 | 18.5 | 22.8 | 6.7 | 11.3 | 14.4 | 10.9 | 14.9 | 18.6 | |
| HomeRobotReproduced=true, Zero-shot=true2025.12 | 5.9 | 10.2 | 12.9 | 1.7 | 3.9 | 8.4 | 3.8 | 7 | 10.7 |