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Embodied Skill Evaluation on BEAR

87.5Task Plan Success (PRG)

Human

Updated 2mo ago

Evaluation Results

Method	Links
Human 2025.10		87.5	95.5	92	93.5	0.83	0.77	0.82	92	96.5	94	89	94.5	83.5	88.5	92.5	89.4
GPT-5 w/ BEAR-Agent 2025.10		61.67	84.12	75.16	64.05	0.573	0.418	0.447	71.67	84.62	80.81	62.67	71.01	52.17	56.33	42.86	61.29
GPT-5 w/ few-shot in context learning 2025.10		61	71.18	64.65	55.88	0.421	0.337	0.363	62	67.95	68.35	49	73.29	51.69	46.33	42.86	54.98
GPT-5 w/ one-shot in context learning 2025.10		60.33	70.59	64.01	55.23	0.415	0.33	0.357	61.33	67.31	67.68	49.33	72.64	50.72	46.67	40	54.43
GPT-5 2025.10		59.67	70	63.69	54.9	0.411	0.326	0.352	61	66.99	67.34	49.67	72.31	50.24	47	40	52.17
GPT-5 w/ Chain-of-Thought prompting 2025.10		58.67	67.35	57.19	64.01	0.406	0.321	0.37	61.33	65.38	68.35	52	73.29	47.83	50	34.29	52.78
InternVL3-14B w/ Chain-of-Thought prompting 2025.10		44	27.94	21.9	26.92	0.265	0.214	0.213	31.67	44.87	39.39	39.43	41.37	34.69	24.66	0	26.88
InternVL3-14B w/ one-shot in context learning 2025.10		42	38.53	28.34	33.33	0.312	0.268	0.287	34	48.72	52.53	29	39.74	31.88	18.67	28.57	33.38
InternVL3-14B w/ BEAR-Agent 2025.10		41.67	47.06	31.85	34.97	0.347	0.294	0.269	36.33	53.85	52.86	37	43.65	31.4	26	28.57	36.24
InternVL3-14B 2025.10		41	37.94	27.78	32.8	0.304	0.258	0.276	33	51.28	49.49	31.43	43	28.02	21.33	28.57	33.93
InternVL3-14B w/ few-shot in context learning 2025.10		41	39.41	28.98	34.31	0.321	0.275	0.297	34	54.49	47.14	34.67	46.25	25.12	24.33	25.71	34.98
Random Choice 2025.10		25	-	-	-	-	-	-	25	25	25	25	25	28	25	25	-