ResearchBenchmarksArticulated Scene Generation on Real-World Image InputArticulated Scene Generation on Real-World Image InputFollow85Joint AccuracyASG74.677.38082.7Jun 17, 2026Evaluation resultsMethodMethodLinksJoint AccuracyPose ErrorCenter IoUASGInput=RealInput=Real2026.06854.0272URDFormerInput=RealInput=Real2026.06819.2458ACDCInput=RealInput=Real2026.06756.1368