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ResearchFormerly WizWand

Geometry Matching on Touch3D

24,217.33Chamfer Distance (CD)Patch VisTac Early Fusion
23,758.84426,853.624529,948.40533,043.1855Jun 10, 2026
Updated 4mo ago

Evaluation results

MethodLinks
Patch VisTac Early Fusionmodality=Vision-Tactile, input_type=Patch, fusion=Early2026.0624,217.3329.36
Patch Vismodality=Vision, input_type=Patch2026.0624,426.2629.9
Patch Vis + CLmodality=Vision, input_type=Patch, alignment=CL2026.0624,472.6429.12
Patch VisTac Early Fusion+CLmodality=Vision-Tactile, input_type=Patch, alignment=CL, fusion=Early2026.0624,549.4823.6
Tac + GAmodality=Tactile, alignment=GA2026.0624,787.7418.28
Vis + GAmodality=Vision, alignment=GA2026.0624,971.4829.82
Patch Tac + DARmodality=Tactile, input_type=Patch, alignment=DAR2026.0625,134.4326.04
Patch Tac + DSCMRmodality=Tactile, input_type=Patch, alignment=DSCMR2026.0625,325.5932.12
Patch Tac + CLmodality=Tactile, input_type=Patch, alignment=CL2026.0625,382.1425.7
Patch VisTac Late Fusionmodality=Vision-Tactile, input_type=Patch, fusion=Late2026.0625,459.728.85
Patch Tacmodality=Tactile, input_type=Patch2026.0625,697.2820.29
Patch Vis + DSCMRmodality=Vision, input_type=Patch, alignment=DSCMR2026.0625,757.0820.48
Tacmodality=Tactile2026.0626,047.9620.04
Vismodality=Vision2026.0626,456.0915.51
Patch VisTac Early Fusion+DARmodality=Vision-Tactile, input_type=Patch, alignment=DAR, fusion=Early2026.0627,021.3717.72
Patch VisTac Late Fusion+DARmodality=Vision-Tactile, input_type=Patch, alignment=DAR, fusion=Late2026.0627,225.2618.59
Patch VisTac Early Fusion+DSCMRmodality=Vision-Tactile, input_type=Patch, alignment=DSCMR, fusion=Early2026.0627,509.7815.87
Patch Vis + DARmodality=Vision, input_type=Patch, alignment=DAR2026.0627,729.6716.33
Patch VisTac Late Fusion+CLmodality=Vision-Tactile, input_type=Patch, alignment=CL, fusion=Late2026.0628,241.6816.05
Patch VisTac Late Fusion+DSCMRmodality=Vision-Tactile, input_type=Patch, alignment=DSCMR, fusion=Late2026.0629,755.0914.28
Chance2026.0635,679.4822.04