ResearchBenchmarksExploration and Object Identification on Deformed CupExploration and Object Identification on Deformed CupFollow66.7Success RateTACTFUL40.59647.37354.1560.927Jun 23, 2026Evaluation resultsMethodMethodLinksSuccess RateChamfer-L2 DistanceTACTFULInit. Δ (m)=0.322±0.068Init. Δ (m)=0.322±0.0682026.0666.70.021BC onlyInit. Δ (m)=0.331±0.071Init. Δ (m)=0.331±0.0712026.0658.30.12RL w/o BCInit. Δ (m)=0.321±0.061Init. Δ (m)=0.321±0.0612026.0658.30.031HeuristicInit. Δ (m)=0.334±0.009Init. Δ (m)=0.334±0.0092026.0641.60.13