Focusable Depth Estimation on RLBench
99.6Boundary δ1FocusDepth(DA2)
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| FocusDepth(DA2)Backbone=DA2, Evaluation Protocol=FocusDepth, Prompt Type=Box-prompt2026.05 | 99.6 | 5.4 | 100 | 5 | 99.2 | 4.5 | |
| FocusDepth(DA3)Backbone=DA3, Evaluation Protocol=FocusDepth, Prompt Type=Box-prompt2026.05 | 99.6 | 4.9 | 100 | 5.6 | 99.6 | 3 | |
| FocusDepthEvaluation Protocol=Fine-tuned, Base Architecture=DA32026.05 | 99.5 | 4.5 | 100 | 5 | 99.6 | 2.9 | |
| FocusDepthEvaluation Protocol=Fine-tuned, Base Architecture=DA22026.05 | 99.4 | 5.3 | 100 | 4.6 | 99.3 | 4.4 | |
| DA2-ftBackbone=DA2, Evaluation Protocol=Fine-tuned, Prompt Type=Box-prompt2026.05 | 98.2 | 6.9 | 100 | 6.6 | 96.4 | 5.4 | |
| DA2Evaluation Protocol=Fine-tuned2026.05 | 97.6 | 6.9 | 99.9 | 6.1 | 96.4 | 5.4 | |
| DA3-ftBackbone=DA3, Evaluation Protocol=Fine-tuned, Prompt Type=Box-prompt2026.05 | 97.5 | 7.3 | 100 | 9.5 | 98.3 | 4.2 | |
| DA3Evaluation Protocol=Fine-tuned2026.05 | 97.3 | 6.8 | 99.8 | 8.8 | 98.4 | 4.1 | |
| DA2Backbone=DA2, Evaluation Protocol=Zero-shot, Prompt Type=Box-prompt2026.05 | 92.2 | 10.6 | 99.6 | 9.7 | 91.7 | 10.6 | |
| DA2Evaluation Protocol=Zero-shot2026.05 | 89.5 | 11 | 98.9 | 9 | 92.1 | 10.3 | |
| UniDepth-v2Evaluation Protocol=Zero-shot, Prompt Type=Box-prompt2026.05 | 87.1 | 12.3 | 99.7 | 12.7 | 92.1 | 9.7 | |
| UniDepth-v2Evaluation Protocol=Zero-shot2026.05 | 85.9 | 12.1 | 99.1 | 11.7 | 92.5 | 9.3 | |
| DA3Evaluation Protocol=Zero-shot2026.05 | 79.5 | 14.5 | 91 | 13.9 | 89.3 | 12.9 | |
| DA3Backbone=DA3, Evaluation Protocol=Zero-shot, Prompt Type=Box-prompt2026.05 | 79 | 14.8 | 94.4 | 14.7 | 88.9 | 13.4 | |
| Metric3D-v2Evaluation Protocol=Zero-shot2026.05 | 71.6 | 18.3 | 75.3 | 18.5 | 81.7 | 16.3 | |
| Metric3D-v2Evaluation Protocol=Zero-shot, Prompt Type=Box-prompt2026.05 | 70.7 | 18.5 | 72.7 | 19.8 | 81.5 | 16.5 | |
| UniDepth-v1Evaluation Protocol=Zero-shot2026.05 | 60.1 | 24.7 | 57.7 | 22.4 | 66.6 | 21.2 | |
| UniDepth-v1Evaluation Protocol=Zero-shot, Prompt Type=Box-prompt2026.05 | 59.7 | 24.7 | 54.2 | 23.4 | 66.5 | 21.4 |