MiniCPM-RobotTrack
MiniCPM-Robot Embodied Series
MiniCPM-RobotTrack uses EVT-Bench to evaluate static target tracking (STT), dynamic target tracking (DT) and adversarial target tracking (AT). Metrics include success rate (SR), tracking rate (TR) and collision rate (CR).
Metrics
| Metric | Meaning | Direction |
|---|---|---|
| SR | Success rate | Higher is better |
| TR | Tracking rate | Higher is better |
| CR | Collision rate | Lower is better |
Model and Vision Dependencies
Place the full model snapshot in minicpm_robot_track/checkpoints/MiniCPM-RobotTrack/. Evaluation also requires DINOv3 ViT-S/16 and SigLIP So400m; you can point to local directories via environment variables.
export DINOV3_MODEL_PATH=/path/to/dinov3-vits16
export SIGLIP_MODEL_PATH=/path/to/siglip-so400m-patch14-384
Running the Evaluation
cd MiniCPM-RobotTrack
CKPT=minicpm_robot_track/checkpoints/MiniCPM-RobotTrack
bash scripts/eval_stt.sh "$CKPT" results/stt
bash scripts/eval_dt.sh "$CKPT" results/dt
bash scripts/eval_at.sh "$CKPT" results/at
Official Results Summary
| Task | SR | TR | CR |
|---|---|---|---|
| STT | 84.1 | 89.8 | 3.0 |
| DT | 53.2 | 73.4 | 13.6 |
| AT | 58.0 | 80.4 | 9.0 |
The values in the table are from results published in the official repository, in percent. When reproducing, record the scene assets, software versions, random seeds, model snapshot and metric implementation.
Reproduction Checklist
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Habitat-Sim, Bullet, PyTorch and CUDA versions recorded
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HM3D, MP3D, humanoid and robot asset directories complete
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DINOv3, SigLIP and MiniCPM-RobotTrack weight versions pinned
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STT, DT and AT output directories kept separate
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SR, TR and CR computed the same way as the official implementation
Related resources
| Topic | Link |
|---|---|
| Official evaluation code | Official evaluation code |
| EVT-Bench results table | EVT-Bench results table |