ResearchBenchmarksPast Motion Narration on NymeriaPast Motion Narration on NymeriaFollow0.1107BLEU-4 ScoreEgo3DLM0.01970.0433250.066950.090575Jul 8, 2026Evaluation resultsMethodMethodLinksBLEU-4 ScoreBLEU-1 ScoreROUGE-LSBERT ScoreRecall@3DPGEgo3DLM2026.070.11070.39660.31950.64580.42644.947EgoLMvariant=Inst. tuningvariant=Inst. tuning2026.070.06490.30020.26420.590.26396.8992LLMbackbone=Qwen 2.5 7Bbackbone=Qwen 2.5 7B2026.070.02320.14770.22670.61830.19446.9648