ResearchBenchmarks3D Affordance Keypoint Detection on UMDKP (test)3D Affordance Keypoint Detection on UMDKP (test)Follow0.37Grasp NMSEAffKP0.36920.37460.380.3854Nov 27, 2025Evaluation resultsMethodMethodLinksGrasp NMSECut NMSEScoop NMSEContain NMSEPound NMSEW-Grasp NMSEMean NMSEGrasp PCK@0.3Cut PCK@0.3Scoop PCK@0.3Contain PCK@0.3Pound PCK@0.3W-Grasp PCK@0.3Mean PCK@0.3AffKPArchitecture=Encoder-D...Architecture=Encoder-Decoder2025.110.370.260.330.420.820.310.4256.3765.9659.7858.4924.5271.0656.03FAKPArchitecture=Encoder-D...Architecture=Encoder-Decoder2025.110.390.270.280.180.350.160.2742.9164.0766.0682.9652.5797.167.61