ResearchBenchmarksArticulation Estimation on SceneFun3D 30 scenesArticulation Estimation on SceneFun3D 30 scenesFollow96.04Joint AccuracyPhysGraph31.071247.938164.80581.6719Jun 7, 2026Evaluation resultsMethodMethodLinksJoint AccuracyMinimum DistanceOrientation ErrorPhysGraphTotal #=501, Pred #=429Total #=501, Pred #=4292026.0696.046.335.84DRAWERTotal #=501, Pred #=441Total #=501, Pred #=4412026.0668.2518.282.07URDFormerTotal #=501, Pred #=244Total #=501, Pred #=2442026.0655.3361.461.863DOITotal #=501, Pred #=429Total #=501, Pred #=4292026.0633.57——