Model,Peak Horiz,Peak Vert,Peak Dist,Entanglement Layer,Entanglement,EmbSpatial (con),EmbSpatial (ctr),CVBench3D (con),CVBench3D (ctr)
Molmo vanilla,0.1427,0.2190,0.0790,23,0.3105,63.5%,34.9%,93.1%,75.4%
Molmo 80k,0.1224,0.2993,0.0768,23,0.4215,60.6%,29.5%,80.2%,56.9%
Molmo 400k,0.2355,0.5908,0.0970,23,0.4873,62.7%,27.1%,89.5%,56.9%
Molmo 800k,0.2468,0.5573,0.1051,23,0.5287,65.2%,34.1%,88.7%,70.8%
Molmo 2M,0.2390,0.5670,0.1118,23,0.4652,65.3%,39.5%,90.6%,72.3%
NVILA vanilla,0.3232,0.2795,0.0565,20,0.5832,15.3%,7.8%,74.4%,40.0%
RoboRefer,0.6490,0.8342,0.1941,20,0.3779,87.0%,59.7%,98.9%,95.4%
NVILA 80k,0.2946,0.4660,0.0737,20,0.6285,57.7%,15.5%,71.6%,50.8%
NVILA 400k,0.2415,0.4761,0.0928,20,0.6416,61.1%,34.1%,81.3%,58.5%
NVILA 800k,0.2779,0.4903,0.0886,20,0.6054,63.2%,38.8%,84.6%,67.7%
NVILA 2M,0.2409,0.5117,0.1006,20,0.5586,60.7%,41.1%,97.2%,93.8%
NVILA-ST 80k,0.2783,0.5227,0.0993,20,0.7239,54.6%,16.3%,71.9%,50.8%
NVILA-ST 400k,0.2056,0.5523,0.0721,20,0.6337,52.3%,28.7%,87.6%,76.9%
NVILA-ST 800k,0.2488,0.4797,0.0992,20,0.5741,55.6%,39.5%,93.7%,80.0%
NVILA Syn 80k-5%,0.3435,0.6817,0.0950,20,0.7037,N/A,N/A,N/A,N/A
NVILA Syn 80k-10%,0.4141,0.8055,0.1228,20,0.6104,N/A,N/A,N/A,N/A
NVILA Syn 400k-5%,0.3632,0.6191,0.1087,20,0.7098,N/A,N/A,N/A,N/A
NVILA Syn 800k-5%,0.3900,0.6061,0.0995,20,0.6409,N/A,N/A,N/A,N/A
Qwen vanilla,0.3674,0.3142,0.0464,27,0.4555,54.7%,32.6%,75.5%,55.4%
Qwen 80k,0.3862,0.3399,0.0440,27,0.4678,50.6%,30.2%,69.7%,60.0%
Qwen 400k,0.4496,0.4551,0.0455,27,0.4788,52.6%,27.1%,65.8%,58.5%
Qwen 800k,0.4730,0.5209,0.0495,27,0.4673,55.8%,26.4%,61.2%,58.5%
Qwen 2M,0.4845,0.5710,0.0569,27,0.5048,60.9%,24.0%,62.0%,53.8%