ResearchBenchmarksArticulated Scene Generation on Simulation Image InputArticulated Scene Generation on Simulation Image InputFollow90Joint AccuracyASG77.5280.768487.24Jun 17, 2026Evaluation resultsMethodMethodLinksJoint AccuracyPose ErrorIoU (Center)ASGInput=SimInput=Sim2026.06903.1180URDFormerInput=SimInput=Sim2026.06887.6565ACDCInput=SimInput=Sim2026.06785.2171