ResearchBenchmarksSurgical Object Recognition on GraSPFollow14.6PrecisionCoA10.64811.67412.713.726Mar 20, 2026Evaluation ResultsMethodMethodLinksPrecisionRecallF1 ScoreF1 Score (cls)CoAOptimization=RLVR, Thi...Optimization=RLVR, Thinking Format=CoA thinking format2026.0314.630.518.313.3SFTLoss Function=cross-en...Loss Function=cross-entropy loss2026.031123.513.49.6Base2026.0310.842.916.413.5