| 模型 | SMD | MWOZ | CamRest | |||
| BLEU | F1 | BLEU | F1 | BLEU | F1 | |
| ECO [33] | - | - | 12.61 | 40.87 | 18.42 | 71.56 |
| DialoKG [25] | 20.00 | 65.90 | 12.60 | 43.50 | 23.40 | 75.60 |
| Q-TOD (T5-Base) [26] | 20.14 | 68.22 | - | - | - | - |
| Q-TOD (T5-Large) [26] | 21.33 | 71.11 | 17.62 | 50.61 | 23.75 | 74.22 |
| MAKER (T5-Base) [14] | 24.79 | 69.79 | 17.23 | 53.68 | 25.04 | 73.09 |
| MAKER (T5-Large) [14] | 25.91 | 71.30 | 18.77 | 54.72 | 25.53 | 74.36 |
| MK-TOD (T5-Base) [27] | 23.96 | 68.60 | 17.05 | 52.42 | 26.76 | 73.60 |
| MK-TOD (T5-Large) [27] | 25.43 | 73.31 | 18.02 | 53.13 | 26.40 | 72.80 |
| Dual-Feedback-TOD (T5-Base) [28] | 24.12 | 69.36 | 18.26 | 52.52 | 25.85 | 72.83 |
| Dual-Feedback-TOD (T5-Large) [28] | 25.10 | 71.58 | 18.48 | 53.17 | 26.00 | 74.04 |
| PluDG [34] | 21.60 | 69.50 | 9.20 | 42.40 | 23.00 | 76.90 |
| Ours (T5-Base) | 24.61 | 68.70 | 17.71 | 53.00 | 25.61 | 71.08 |
| Ours (T5-Large) | 22.42 | 65.49 | 17.20 | 54.83 | 27.13 | 71.39 |