(cid:51)
(cid:55)
(cid:55)
(cid:55)

LLM
frozen

n/a
(cid:51)
(cid:51)
(cid:55)

0.73
0.65
0.89

-

0.54
0.91
0.91
0.77

Table 4: Mobile manipulation environment: failure detection and
affordance prediction (F1 score).

VQAv2

OK-VQA

COCO

test-dev test-std

val

Karpathy test

76.2
80.0

Model
Generalist (one model)
PaLM-E-12B
PaLM-E-562B
Task-speciﬁc ﬁnetuned models
Flamingo (Alayrac et al., 2022)
PaLI (Chen et al., 2022)
PaLM-E-12B
PaLM-E-66B
PaLM-E-84B
Generalist (one model), with frozen LLM
(Tsimpoukelli et al., 2021)
PaLM-E-12B frozen

82.0
84.3
77.7

48.4
70.3

80.5

-

82.1
84.3
77.9

-
-

-
-

-
-

55.5
66.1
57.8†
64.5
60.1
62.9
63.3

-

51.5

0.62

-
-

0.63

0.46
0.78
0.87
0.91

135.0
138.7

138.1
149.1
136.0

138.0

-

-

128.0
PaLM-E- An Embodied Multimodal Language Model