3D Reconstruction on ShapeNet (test)
0.042EMDTouch2Shape
Evaluation results
| Method | Links | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Touch2Shape# Touches=20, Modality=Visual-Tactile2025.05 | 0.042 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.033 | 0.042 | 0.04 | 0.05 | 0.045 | 0.045 | |
| Touch2Shape# Touches=10, Modality=Visual-Tactile2025.05 | 0.046 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.034 | 0.042 | 0.045 | 0.052 | 0.056 | 0.046 | |
| Touch2Shape# Touches=1, Modality=Visual-Tactile2025.05 | 0.048 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.036 | 0.042 | 0.046 | 0.055 | 0.059 | 0.048 | |
| Touch2Shape# Touches=20, Modality=Tactile only2025.05 | 0.053 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.041 | 0.049 | 0.049 | 0.056 | 0.064 | 0.055 | |
| Touch2Shape# Touches=10, Modality=Tactile only2025.05 | 0.056 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.042 | 0.05 | 0.051 | 0.058 | 0.067 | 0.059 | |
| TouchSDF# Touches=20, Modality=Tactile only2025.05 | 0.081 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.047 | 0.066 | 0.048 | 0.092 | 0.155 | 0.071 | |
| TouchSDF# Touches=10, Modality=Tactile only2025.05 | 0.112 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.082 | 0.072 | 0.073 | 0.101 | 0.177 | 0.136 | |
| Touch2Shape# Touches=1, Modality=Tactile only2025.05 | 0.124 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.11 | 0.118 | 0.128 | 0.132 | 0.139 | 0.122 | |
| TouchSDF# Touches=1, Modality=Tactile only2025.05 | 0.136 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.113 | 0.091 | 0.085 | 0.131 | 0.195 | 0.164 | |
| PSGCategory=plane2018.04 | 0.396 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=firearm2018.04 | 0.397 | 0.423 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TARSCategory=Car2022.05 | 0.446 | 0.14 | — | — | — | — | — | — | — | — | — | 0.141 | 0.14 | 99.7 | 99.81 | 99.75 | — | — | — | — | — | — | — | — | — | — | |
| SDF-SRNCategory=Car2022.05 | 0.452 | 0.142 | — | — | — | — | — | — | — | — | — | 0.141 | 0.144 | 99.76 | 99.84 | 99.8 | — | — | — | — | — | — | — | — | — | — | |
| TARSCategory=Airplane2022.05 | 0.533 | 0.173 | — | — | — | — | — | — | — | — | — | 0.194 | 0.152 | 98.79 | 99.34 | 99.06 | — | — | — | — | — | — | — | — | — | — | |
| SDF-SRNCategory=Airplane2022.05 | 0.576 | 0.173 | — | — | — | — | — | — | — | — | — | 0.193 | 0.154 | 98.55 | 99.11 | 98.83 | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=plane2018.04 | 0.579 | 0.477 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoftRasCategory=Airplane2022.05 | 0.588 | 0.211 | — | — | — | — | — | — | — | — | — | 0.215 | 0.207 | 98.74 | 98.42 | 98.58 | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=plane2018.04 | 0.606 | 0.895 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=firearm2018.04 | 0.667 | 0.453 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=firearm2018.04 | 0.688 | 0.993 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoftRasCategory=Car2022.05 | 0.723 | 0.337 | — | — | — | — | — | — | — | — | — | 0.372 | 0.302 | 93.04 | 96.62 | 94.8 | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=cellphone2018.04 | 0.724 | 0.421 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=watercraft2018.04 | 0.814 | 0.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TARSCategory=Chair2022.05 | 0.817 | 0.332 | — | — | — | — | — | — | — | — | — | 0.353 | 0.312 | 93.43 | 95.39 | 94.4 | — | — | — | — | — | — | — | — | — | — | |
| SDF-SRNCategory=Chair2022.05 | 0.854 | 0.333 | — | — | — | — | — | — | — | — | — | 0.352 | 0.315 | 94.18 | 95.21 | 94.69 | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=cellphone2018.04 | 0.912 | 1.137 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=watercraft2018.04 | 0.935 | 1.215 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=watercraft2018.04 | 0.945 | 0.633 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=bench2018.04 | 0.965 | 0.624 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoftRasCategory=Chair2022.05 | 1.017 | 0.523 | — | — | — | — | — | — | — | — | — | 0.572 | 0.475 | 82.56 | 89.18 | 85.74 | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=cellphone2018.04 | 1.019 | 0.438 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=bench2018.04 | 1.113 | 0.629 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=bench2018.04 | 1.136 | 1.891 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=lamp2018.04 | 1.222 | 1.193 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=car2018.04 | 1.297 | 0.268 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=lamp2018.04 | 1.314 | 1.295 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=mean2018.04 | 1.38 | 0.591 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=chair2018.04 | 1.399 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=lamp2018.04 | 1.424 | 4.009 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=chair2018.04 | 1.466 | 1.432 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=table2018.04 | 1.48 | 0.498 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=mean2018.04 | 1.501 | 1.445 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=monitor2018.04 | 1.536 | 0.755 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=table2018.04 | 1.641 | 1.116 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=couch2018.04 | 1.642 | 0.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=mean2018.04 | 1.653 | 0.593 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=monitor2018.04 | 1.667 | 1.707 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=car2018.04 | 1.67 | 0.845 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=car2018.04 | 1.747 | 0.333 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=monitor2018.04 | 1.891 | 0.722 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=chair2018.04 | 1.946 | 0.645 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=couch2018.04 | 2.114 | 1.135 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=table2018.04 | 2.121 | 0.517 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=couch2018.04 | 2.207 | 0.549 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=cabinet2018.04 | 2.52 | 0.735 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=cabinet2018.04 | 2.563 | 0.381 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-R2N2Category=speaker2018.04 | 2.732 | 1.507 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pixel2MeshCategory=speaker2018.04 | 2.951 | 0.739 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=cabinet2018.04 | 2.986 | 0.439 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSGCategory=speaker2018.04 | 3.49 | 0.756 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=plane2018.04 | 7.498 | 0.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=watercraft2018.04 | 11.425 | 2.154 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=car2018.04 | 11.641 | 2.298 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=bench2018.04 | 11.766 | 2.268 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=chair2018.04 | 11.809 | 2.084 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=firearm2018.04 | 11.889 | 2.641 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=table2018.04 | 12.842 | 2.383 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=mean2018.04 | 13.386 | 2.629 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=monitor2018.04 | 14.097 | 3.111 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=lamp2018.04 | 14.741 | 3.013 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=couch2018.04 | 14.876 | 3.512 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=speaker2018.04 | 16.72 | 3.343 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=cabinet2018.04 | 17.062 | 2.555 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| N3MRCategory=cellphone2018.04 | 17.649 | 4.366 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D43DCategory=plane, Number of views=5, w/ GT Pose=true2022.05 | — | — | — | — | — | — | 0.736 | — | — | 0.021 | 0.899 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DAttriFlowParams=20.92M, Infer time=0.117s2025.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.08 | — | — | — | — | — | — | |
| ALTOInput Points=3K2022.12 | — | — | — | — | — | — | 0.93 | 0.952 | — | 0.3 | 0.98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALTOInput Points=1K2022.12 | — | — | — | — | — | — | 0.905 | 0.94 | — | 0.35 | 0.964 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALTOInput Points=3002022.12 | — | — | — | — | — | — | 0.863 | 0.922 | — | 0.47 | 0.924 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALTO (Encoder Only)Input Points=3K2022.12 | — | — | — | — | — | — | 0.931 | 0.95 | — | 0.3 | 0.981 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALTO (Encoder Only)Input Points=1K2022.12 | — | — | — | — | — | — | 0.889 | 0.932 | — | 0.39 | 0.951 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALTO (Encoder Only)Input Points=3002022.12 | — | — | — | — | — | — | 0.842 | 0.908 | — | 0.52 | 0.903 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=Linear, Training regime=Single-category2019.08 | — | — | 1.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=MLP, Training regime=Single-category2019.08 | — | — | 0.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=Linear, Training regime=Multi-category2019.08 | — | — | 2.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=MLP, Training regime=Multi-category2019.08 | — | — | 0.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=Linear, Training regime=Single-category2019.08 | — | — | 4.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=MLP, Training regime=Single-category2019.08 | — | — | 1.64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=Linear, Training regime=Multi-category2019.08 | — | — | 3.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasNetAdjustment type=MLP, Training regime=Multi-category2019.08 | — | — | 1.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BDM-BParams=49.71M, Infer time=7.602s2025.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.3 | — | — | — | — | — | — | |
| Classif.+DORefinement=Direct Optimization, Section=Top2021.01 | — | — | — | 1.826 | 2.192 | 1.144 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Classif.+DORefinement=No test-time refinement, Section=Bottom2021.01 | — | — | — | 3.199 | 4.518 | 1.661 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvObject Category=Chair, Input Points=10k, Noise std=0.0052023.11 | — | — | — | — | — | — | — | — | — | 0.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvObject Category=Lamp, Input Points=10k, Noise std=0.0052023.11 | — | — | — | — | — | — | — | — | — | 0.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvObject Category=Table, Input Points=10k, Noise std=0.0052023.11 | — | — | — | — | — | — | — | — | — | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvObject Category=Mean, Input Points=10k, Noise std=0.0052023.11 | — | — | — | — | — | — | — | — | — | 0.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvInput points (Np)=10k, Noise level=0.005, training_input_size=3k2023.11 | — | — | — | — | — | — | — | 0.94 | — | — | — | — | — | — | — | — | 0.95 | 0.9 | 0.96 | — | — | — | — | — | — | — | |
| ConvONetPoint Cloud Noise=3k noisy pts2022.01 | — | 0.44 | — | — | — | — | 0.884 | 0.938 | 0.942 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvONetInput Points=3K2022.12 | — | — | — | — | — | — | 0.884 | 0.938 | — | 0.44 | 0.942 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |