# Dexterous Manipulation on HOI4D

Source: [Dexterous Manipulation on HOI4D](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d>)

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

Data updated: 2026-06-09T07:53:19.491Z

Evaluation of dexterous manipulation performance on the HOI4D dataset, reporting object error metrics (rotation and translation), joint/fingertip position errors, and success rate (SR).

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 | Dexterous manipulation |
| Dataset (including any stated split) | HOI4D |
| Metric | Object Rotation Error (Er) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 2 of 2 |
| 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

- [Object Rotation Error (Er)](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d.md?metric=Object%20Rotation%20Error%20(Er)>): Lower is better; unit: SCALAR.

- [Object Translation Error (Et)](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d.md?metric=Object%20Translation%20Error%20(Et)>): Lower is better; unit: SCALAR.

- [Mean Joint Position Error (Ej)](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d.md?metric=Mean%20Joint%20Position%20Error%20(Ej)>): Lower is better; unit: SCALAR.

- [Mean Fingertip Position Error (Eft)](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d.md?metric=Mean%20Fingertip%20Position%20Error%20(Eft)>): Lower is better; unit: SCALAR.

- [Success Rate (SR)](<https://www.sota2.com/research/sota/dexterous-manipulation-on-hoi4d.md?metric=Success%20Rate%20(SR)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Object Rotation Error (Er) | Result date | Report paper |
| --- | --- | --- | --- |
| Raw Data (with Object CAD) | 10.4 | Not recorded | 6a279e3d90966ade919bf83e |
| EgoAERO | 10.9 | Not recorded | 6a279e3d90966ade919bf83e |

### Raw Data (with Object CAD)

Object Rotation Error (Er): 10.4. Result ID: 6a27c5cdfbc373592c244c08.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e3d90966ade919bf83e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71b71e209131cea52b92.md>)

[Implementation](<http://hoi4d.top/>)

Recorded evaluation configuration: {"Resource":"Object CAD assets"}. This record does not assert independent reproduction.

### EgoAERO

Object Rotation Error (Er): 10.9. Result ID: 6a27c5cdfbc373592c244c09.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e3d90966ade919bf83e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a279e3d90966ade919bf83e.md>)

Recorded evaluation configuration: {"Resource":"Asset-free reconstruction"}. This record does not assert independent reproduction.

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