Skill Evaluation on ALFRED
78.01Object Perception (Grounding) AccuracyBC (InternVL3-8B)
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| BC (InternVL3-8B)Backbone=InternVL3-8B2026.04 | 78.01 | 73.94 | 71.8 | 83 | 63.25 | 9.27 | 63 | 98.53 | |
| Ours (InternVL3-8B)Backbone=InternVL3-8B2026.04 | 75.84 | 81.73 | 99.4 | 98.6 | 96.8 | 89.09 | 89.4 | 98.2 | |
| Gemini-2.5-ProModel Class=Closed2026.04 | 63.53 | 60.75 | 86.2 | 80.2 | 85.43 | 31.08 | 81.9 | 85.76 | |
| GPT-o3Model Class=Closed2026.04 | 57.28 | 29.55 | 94.8 | 80.6 | 86.75 | 31.76 | 79.6 | 77.41 | |
| GPT-5Model Class=Closed2026.04 | 51.45 | 24.34 | 92.2 | 73.8 | 81.48 | 28.86 | 80.1 | 71.52 | |
| Qwen3-VL-8BModel Class=Open2026.04 | 48.99 | 51.79 | 89.4 | 80.2 | 76.5 | 67.18 | 81.5 | 45.34 | |
| Gemini-2.5-FlashModel Class=Closed2026.04 | 45 | 43.15 | 88.6 | 66.8 | 69.45 | 32.53 | 79.9 | 74.8 | |
| Claude-4.5-SonnetModel Class=Closed2026.04 | 38.05 | 1.54 | 90.8 | 65.8 | 51.6 | 62.55 | 81.2 | 46.15 | |
| InternVL3-8BModel Class=Open2026.04 | 33.7 | 26.68 | 71.8 | 77.4 | 68.8 | 48.26 | 74.2 | 4.42 | |
| InternVL2.5-8BModel Class=Open2026.04 | 30.9 | 8.79 | 67 | 76.2 | 68.7 | 47.39 | 60.8 | 0.82 | |
| Qwen2.5-VL-7BModel Class=Open2026.04 | 28.15 | 1.82 | 84 | 73 | 48.78 | 49.61 | 76.4 | 39.44 | |
| LLaVA-OneVision-7BModel Class=Open2026.04 | 22.19 | 18.19 | 69.6 | 68 | 71.05 | 44.88 | 69.5 | 6.87 |