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MLCD-Embodied-7B

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  | | | MLCD <br> Embodied-7B | LLaVA <br> OneVision-7B | GPT-4v | RoboMamba |
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- |----------------|-------------------|-------------------|--------------------|--------|-----------|
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- | **RoboVQA** | BLEU1 | **73.16** | 38.12 | - | 54.9 |
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- | | BLEU2 | **66.39** | 33.56 | - | 44.2 |
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- | | BLEU3 | **60.61** | 31.76 | - | 39.5 |
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- | | BLEU4 | **56.56** | 30.97 | - | 36.3 |
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- | **OpenEQA** | OBJECT-STATE-RECOGNITION | **71.83** | - | 63.2 | - |
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- | | OBJECT-RECOGNITION | **49.46** | - | 43.4 | - |
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- | | FUNCTIONAL-REASONING | 54.38 | - | **57.4** | - |
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- | | SPATIAL-UNDERSTANDING | **48.64** | - | 33.6 | - |
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- | | ATTRIBUTE-RECOGNITION | **67.08** | - | 57.2 | - |
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- | | WORLD-KNOWLEDGE | **53.87** | - | 50.7 | - |
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- | | OBJECT-LOCALIZATION | **43.06** | - | 42.0 | - |
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  | | | MLCD <br> Embodied-7B | LLaVA <br> OneVision-7B | GPT-4v | RoboMamba |
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+ :-- | :-- | :-: | :-: | :-: | :-: |
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+ | RoboVQA | BLEU1 | <span style="color:red">73.16</span> | 38.12 | - | 54.9 |
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+ | | BLEU2 | <span style="color:red">66.39</span> | 33.56 | - | 44.2 |
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+ | | BLEU3 | <span style="color:red">60.61</span> | 31.76 | - | 39.5 |
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+ | | BLEU4 | <span style="color:red">56.56</span> | 30.97 | - | 36.3 |
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+ | OpenEQA | Object State Recognition | <span style="color:red">71.83</span> | - | 63.2 | - |
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+ | | Object Recognition | <span style="color:red">49.46</span> | - | 43.4 | - |
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+ | | Functional Reasoning | 54.38 | - | <span style="color:red">57.4</span> | - |
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+ | | Spatial Understanding | <span style="color:red">48.64</span> | - | 33.6 | - |
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+ | | Attribute Recognition | <span style="color:red">67.08</span> | - | 57.2 | - |
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+ | | World Knowledge | <span style="color:red">53.87</span> | - | 50.7 | - |
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+ | | Object Localization | <span style="color:red">43.06</span> | - | 42.0 | - |
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