| Model,Peak Horiz,Peak Vert,Peak Dist,Entanglement Layer,Layer Horiz SC,Layer Vert SC,Layer Dist SC,Entanglement,EmbSpatial (con),EmbSpatial (ctr),CVBench3D (con),CVBench3D (ctr) |
| Molmo vanilla,0.5734,0.6656,0.1013,23,0.5452,0.6656,0.1013,-0.0221,63.5%,34.9%,93.1%,75.4% |
| Molmo 80k,0.4259,0.6559,0.0624,23,0.4110,0.6559,0.0624,-0.0135,60.6%,29.5%,80.2%,56.9% |
| Molmo 400k,0.4849,0.7134,0.0934,23,0.4617,0.7134,0.0934,0.0562,62.7%,27.1%,89.5%,56.9% |
| Molmo 800k,0.4823,0.6395,0.0962,23,0.4412,0.6395,0.0962,0.1093,65.2%,34.1%,88.7%,70.8% |
| Molmo 2M,0.5030,0.6168,0.1814,23,0.4029,0.6168,0.1814,-0.0624,65.3%,39.5%,90.6%,72.3% |
| NVILA vanilla,0.7228,0.7590,0.0586,20,0.6775,0.5522,0.0580,0.0396,15.3%,7.8%,74.4%,40.0% |
| RoboRefer,0.8453,0.8991,0.3255,20,0.7998,0.6894,0.2701,-0.1721,87.0%,59.7%,98.9%,95.4% |
| NVILA 80k,0.5683,0.5607,0.0877,20,0.5281,0.5278,0.0681,0.0827,57.7%,15.5%,71.6%,50.8% |
| NVILA 400k,0.5213,0.5824,0.1092,20,0.5213,0.5664,0.1066,-0.0575,61.1%,34.1%,81.3%,58.5% |
| NVILA 800k,0.4921,0.5942,0.0987,20,0.4800,0.5828,0.0952,-0.1158,63.2%,38.8%,84.6%,67.7% |
| NVILA 2M,0.5357,0.5988,0.1996,20,0.4828,0.5780,0.1973,0.0677,60.7%,41.1%,97.2%,93.8% |
| Qwen vanilla,0.7611,0.7103,0.0929,27,0.6296,0.5939,0.0929,-0.0385,54.7%,32.6%,75.5%,55.4% |
| Qwen 80k,0.7652,0.7358,0.0885,27,0.6233,0.6163,0.0885,-0.0351,50.6%,30.2%,69.7%,60.0% |
| Qwen 400k,0.8124,0.8035,0.0937,27,0.6482,0.6689,0.0914,-0.0816,52.6%,27.1%,65.8%,58.5% |
| Qwen 800k,0.8340,0.8283,0.0971,27,0.6655,0.7016,0.0941,-0.0740,55.8%,26.4%,61.2%,58.5% |
| Qwen 2M,0.8563,0.8434,0.0957,27,0.6878,0.7112,0.0947,-0.0580,60.9%,24.0%,62.0%,53.8% |
| Qwen3-235B,0.6610,0.6187,0.2285,87,0.6610,0.5353,0.2217,0.1169,70.5%,39.5%,N/A,N/A |
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