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ResearchFormerly WizWand

GraspClutter6D

Benchmarks

TaskDatasetSOTA resultTrendResults

Instance Mask Extraction

GraspClutter6D

21.3IoU (fh/fo)

6

3D Scene Reconstruction

GraspClutter6D YCB-V scene split (test)

0.248ABO (fh/fo)

6

Scene-level integrated reconstruction

GraspClutter6D

49.6IoU

4

Object-level reconstruction

GraspClutter6D

34IoU

4

Language-grounded 3D semantic segmentation

GraspClutter6D

52.543D IoU

4

3D Instance Segmentation

GraspClutter6D (Difficult)

61.66AP@0.25

3

3D Instance Segmentation

GraspClutter6D (Intermediate)

78.04AP25

3

3D Instance Segmentation

GraspClutter6D Easy

83.32AP@25

3