| Model,Peak Horiz,Peak Vert,Peak Dist,Entanglement Layer,Entanglement,EmbSpatial (con),EmbSpatial (ctr),CVBench3D (con),CVBench3D (ctr) |
| Molmo vanilla,0.1427,0.2279,0.0749,23,0.2791,63.5%,34.9%,93.1%,75.4% |
| Molmo 80k,0.1224,0.3317,0.0718,23,0.3879,60.6%,29.5%,80.2%,56.9% |
| Molmo 400k,0.2355,0.5971,0.0961,23,0.4586,62.7%,27.1%,89.5%,56.9% |
| Molmo 800k,0.2468,0.5586,0.1073,23,0.5142,65.2%,34.1%,88.7%,70.8% |
| Molmo 2M,0.2390,0.5743,0.1122,23,0.4744,65.3%,39.5%,90.6%,72.3% |
| NVILA vanilla,0.3232,0.2890,0.0521,20,0.5387,15.3%,7.8%,74.4%,40.0% |
| RoboRefer,0.6490,0.8302,0.1824,20,0.3619,87.0%,59.7%,98.9%,95.4% |
| NVILA 80k,0.2946,0.4967,0.0701,20,0.6061,57.7%,15.5%,71.6%,50.8% |
| NVILA 400k,0.2415,0.5741,0.0949,20,0.5889,61.1%,34.1%,81.3%,58.5% |
| NVILA 800k,0.2779,0.4984,0.0885,20,0.5914,63.2%,38.8%,84.6%,67.7% |
| NVILA 2M,0.2409,0.5531,0.1039,20,0.5501,60.7%,41.1%,97.2%,93.8% |
| NVILA 10pct,0.4141,0.8469,0.1106,20,0.6028,N/A,N/A,N/A,N/A |
| NVILA 20pct,0.4329,0.8179,0.0881,20,0.6871,N/A,N/A,N/A,N/A |
| NVILA 30pct,0.4687,0.7497,0.0670,20,0.6669,N/A,N/A,N/A,N/A |
| Qwen vanilla,0.3674,0.2925,0.0428,27,0.4568,54.7%,32.6%,75.5%,55.4% |
| Qwen 80k,0.3862,0.3148,0.0404,27,0.4563,50.6%,30.2%,69.7%,60.0% |
| Qwen 400k,0.4496,0.4522,0.0418,27,0.4514,52.6%,27.1%,65.8%,58.5% |
| Qwen 800k,0.4730,0.5376,0.0454,27,0.4287,55.8%,26.4%,61.2%,58.5% |
| Qwen 2M,0.4845,0.5858,0.0519,27,0.4720,60.9%,24.0%,62.0%,53.8% |
| Qwen3-235B,0.6610,0.6187,0.2285,87,0.1169,70.5%,39.5%,N/A,N/A |
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