arXiv (OAI Expanded)
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GroundBench: A Factorized, Counterfactual Benchmark for Locating VLM Affordance Failures
A companion evaluation found that naming the target part in a manipulation prompt increased action accuracy by 0.32-0.63 across eight vision-language models, with no model outperforming a constant baseline until the part was named. However, naming the part supplies information that a real system mus
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