Step Completion on CoSPlan
56.4Robo-VQA-E Step Completion ScoreSGI
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| SGIVLM=GPT-4o2025.12 | 56.4 | 37 | 56.1 | 55.3 | |
| SGVLM=GPT-4o2025.12 | 52.2 | 30.1 | 46.1 | 54.3 | |
| CoTVLM=GPT-4o2025.12 | 48.2 | 27.6 | 45.6 | 49.7 | |
| SGIVLM=Intern-VLM2025.12 | 32.1 | 25.2 | 43.2 | 29.2 | |
| SGVLM=Intern-VLM2025.12 | 25.1 | 23.4 | 41.2 | 18.9 | |
| CoTVLM=Intern-VLM2025.12 | 23.5 | 23.2 | 35.8 | 21.2 | |
| SGIVLM=CoG-VLM2025.12 | 22.1 | 26.9 | 29.3 | 26.4 | |
| VanillaVLM=Intern-VLM2025.12 | 22.1 | 20.1 | 21.6 | 18.3 | |
| SGVLM=CoG-VLM2025.12 | 21.5 | 23.7 | 26.5 | 26.7 | |
| SGVLM=Janus-pro-7B2025.12 | 21.3 | 23.5 | 21.7 | 25.1 | |
| SGIVLM=Janus-pro-7B2025.12 | 21.1 | 26.1 | 23.2 | 26.3 | |
| Random2025.12 | 20 | 20 | 20 | 20 | |
| SGIVLM=Qwen2 VL-8B2025.12 | 19.1 | 25 | 28.5 | 18.5 | |
| SGVLM=Qwen2 VL-8B2025.12 | 18.9 | 25.1 | 28.3 | 18.8 | |
| CoTVLM=Qwen2 VL-8B2025.12 | 17.6 | 24.9 | 27.9 | 18.6 | |
| VanillaVLM=Qwen2 VL-8B2025.12 | 17.1 | 24.1 | 26.5 | 18.1 | |
| CoTVLM=Janus-pro-7B2025.12 | 14.7 | 23.1 | 20.2 | 23.1 | |
| VanillaVLM=Janus-pro-7B2025.12 | 14.1 | 23.2 | 20.4 | 24.2 | |
| VanillaVLM=CoG-VLM2025.12 | 13.1 | 23.1 | 25.1 | 25.5 | |
| CoTVLM=CoG-VLM2025.12 | 12.5 | 27.1 | 25.9 | 25.2 |