ResearchBenchmarks2D Visual Quality of Belief Prediction (Observed Scene) on AI2-THOR (test)2D Visual Quality of Belief Prediction (Observed Scene) on AI2-THOR (test)Follow0.0502LPIPS3D-Belief0.0447040.0818020.11890.155998May 12, 2026Evaluation resultsMethodMethodLinksLPIPSPSNRSSIM3D-Belief2026.050.050228.8192.8DFoTtraining=fine-tuned on...training=fine-tuned on AI2-THOR2026.050.120623.3584.1NWMtraining=fine-tuned on...training=fine-tuned on AI2-THOR2026.050.187618.7570.2