场景

MPNet

MPNet (E*)

MPNet (P*)

MPNet*

Seen

97.0 ± 0.4

97.4 ± 0.4

96.5 ± 0.8

97.7 ± 0.6

Unseen

93.7 ± 0.6

95.1 ± 0.4

95.8 ± 0.2

96.5 ± 0.5