Select fruit and vegetable on Select Fruit and Vegetable Hard
80Success RateGesVLA
Evaluation results
| Method | Links | |
|---|---|---|
| GesVLAArchitecture=Joint modeling (ours)2026.05 | 80 | |
| GesVLA (decoupled VLMs)Architecture=Decoupled VLMs2026.05 | 50 | |
| Geometric pipeline + VLAType=Geometric pipeline2026.05 | 40 | |
| Text-only VLAType=Text-only2026.05 | 10 | |
| MLLM + VLAType=MLLM + VLA2026.05 | 10 |