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- | | | MLCD-Embodied-7B | LLaVA 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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  ## General Ability Evaluation: Comparison with LLaVA OneVision-7B and GPT-4
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- | Dataset | Split | MLCD-Embodied-7B | LLaVA OneVision-7B | GPT-4v | GPT-4o |
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  | :-- | :-: | :-: | :-: | :-: | :-: |
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  | A12D | test | 79.9 | 81.4 | 78.2 | 94.2 |
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  | ChartQA | test | 83.0 | 80.0 | 78.5 | 85.7 |
 
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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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  ## General Ability Evaluation: Comparison with LLaVA OneVision-7B and GPT-4
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+ | Dataset | Split | MLCD<br>Embodied-7B | LLaVA<br>OneVision-7B | GPT-4v | GPT-4o |
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  | :-- | :-: | :-: | :-: | :-: | :-: |
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  | A12D | test | 79.9 | 81.4 | 78.2 | 94.2 |
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  | ChartQA | test | 83.0 | 80.0 | 78.5 | 85.7 |