# 3D Scene Reconstruction on GraspClutter6D YCB-V scene split (test)

Source: [3D Scene Reconstruction on GraspClutter6D YCB-V scene split (test)](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-04T10:19:45.165Z

Evaluation of 3D Scene Reconstruction performance on the specific YCB-V test split of the GraspClutter6D dataset, utilizing metrics such as ABO, D\_mean, E\_pk, and Penetration rate.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Scene Reconstruction |
| Dataset (including any stated split) | GraspClutter6D YCB-V scene split (test) |
| Metric | ABO (fh/fo) |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [ABO (fh/fo)](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test.md?metric=ABO%20(fh%2Ffo)>): Higher is better; unit: SCALAR.

- [ABO](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test.md?metric=ABO>): Higher is better; unit: SCALAR.

- [D\_mean](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test.md?metric=D_mean>): Lower is better; unit: SCALAR.

- [E\_pk](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test.md?metric=E_pk>): Lower is better; unit: SCALAR.

- [Penetration Rate](<https://www.sota2.com/research/sota/3d-scene-reconstruction-on-graspclutter6d-ycb-v-scene-split-test.md?metric=Penetration%20Rate>): Lower is better; unit: PERCENT.

## Recorded results

| Method | ABO (fh/fo) | Result date | Report paper |
| --- | --- | --- | --- |
| SimuScene | 0.248 | Not recorded | 6a210696c10484bac23f0233 |
| SAM3D | 0.087 | Not recorded | 6a210696c10484bac23f0233 |
| 3D-RE-GEN | 0.048 | Not recorded | 6a210696c10484bac23f0233 |
| 3D-RE-GEN | 0.023 | Not recorded | 6a210696c10484bac23f0233 |
| Gen3DSR | 0.014 | Not recorded | 6a210696c10484bac23f0233 |
| Gen3DSR | 0.014 | Not recorded | 6a210696c10484bac23f0233 |

### SimuScene

ABO (fh/fo): 0.248. Result ID: 6a215131fbc373592c1d9d79.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

Recorded evaluation configuration: {"Background source":"ours"}. This record does not assert independent reproduction.

### SAM3D

ABO (fh/fo): 0.087. Result ID: 6a215131fbc373592c1d9d74.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691ff20cd6b0dd334292e6ab.md>)

[Implementation](<https://github.com/facebookresearch/sam-3d-objects>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### 3D-RE-GEN

ABO (fh/fo): 0.048. Result ID: 6a215131fbc373592c1d9d78.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6948d063423ea42265729dfe.md>)

[Implementation](<https://github.com/cgtuebingen/3D-RE-GEN>)

Recorded evaluation configuration: {"Background source":"ours"}. This record does not assert independent reproduction.

### 3D-RE-GEN

ABO (fh/fo): 0.023. Result ID: 6a215131fbc373592c1d9d77.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6948d063423ea42265729dfe.md>)

[Implementation](<https://github.com/cgtuebingen/3D-RE-GEN>)

Recorded evaluation configuration: {"Background source":"Original"}. This record does not assert independent reproduction.

### Gen3DSR

ABO (fh/fo): 0.014. Result ID: 6a215131fbc373592c1d9d75.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77b71e209131cea74ef1.md>)

Recorded evaluation configuration: {"Background source":"Original"}. This record does not assert independent reproduction.

### Gen3DSR

ABO (fh/fo): 0.014. Result ID: 6a215131fbc373592c1d9d76.

[Reporting paper](<https://www.sota2.com/research/paper/6a210696c10484bac23f0233.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77b71e209131cea74ef1.md>)

Recorded evaluation configuration: {"Background source":"ours"}. This record does not assert independent reproduction.

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