Task Planning on 3DSG 141 tasks modified and original variants (test)
99.02Success Rate (Planning only)CM w/ Relaxation
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| CM w/ RelaxationDomain generation=true, Grounding (Gr)=false, Relaxation=true2025.06 | 99.02 | — | 24.24 | 17.61 | |
| CMDomain generation=false, Grounding (Gr)=true2025.06 | 97.22 | 91.54 | 9.94 | 17.81 | |
| CM w/ RelaxationDomain generation=true, Grounding (Gr)=true, Relaxation=true2025.06 | 95.52 | 91.73 | 19 | 17.35 | |
| CM w/o RelaxationDomain generation=true, Grounding (Gr)=true, Relaxation=false2025.06 | 88.15 | 66.94 | 38.68 | 15.72 | |
| LLMAsPlannerDomain generation=false, Grounding (Gr)=false2025.06 | 71.2 | — | 8.84 | 21.6 | |
| DELTADomain generation=true, Grounding (Gr)=true2025.06 | 65.76 | 39.28 | 0.03 | 23.52 | |
| DELTADomain generation=true, Grounding (Gr)=false2025.06 | 49.14 | — | 0.03 | 17.12 | |
| SayPlanDomain generation=false, Grounding (Gr)=false2025.06 | 46 | — | 28.15 | 19.6 | |
| DELTADomain generation=false, Grounding (Gr)=true2025.06 | 18.86 | 13.89 | 0.02 | 11.74 |