EmbodimentSemantic - Eye-in-Hand: leaderboard
Metric: Mean per-task triplet F1 (%; directed object-relation-object triplets predicted from single LIBERO-Spatial eye-in-hand (wrist camera, graphs filtered to visible objects) frames against simulator-derived ground-truth scene graphs over a fixed vocabulary of 7 objects and 8 directed relations; exact triplet F1, invariant to swapping the two identical bowls, averaged over the 10 manipulation tasks; one fixed prompt, valid triplets only; higher is better). Source: arxiv.org. Saturation forecast: Around August 2028. 10 models tracked.
Top models
| # | Model | Score |
|---|---|---|
| 1 | Gemini 3.1 Pro (Preview) | 37.73 |
| 2 | Qwen 3 VL 8B Instruct | 21.08 |
| 3 | InternVL3-78B | 21.01 |
| 4 | gemma-4-E4B-it | 14.72 |
| 5 | InternVL3.5-8B | 14.65 |
| 6 | Molmo2-8B | 14.59 |
| 7 | Nemotron Nano 12B v2 VL | 12.7 |
| 8 | Qwen 2.5 VL 7B Instruct | 11.47 |
Interactive version: theaggregate.ai/benchmark?slug=embodimentsemantic-eye-in-hand · How It Works · Data refreshed daily, snapshot 2026-09-29.