# Hand-Object Pose Estimation on HO3D v2 (test)

Source: [Hand-Object Pose Estimation on HO3D v2 (test)](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test>)

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

Data updated: 2026-07-03T08:00:37.318Z

Evaluation of Hand-Object Pose Estimation performance on the test split of the HO3D v2 dataset, reporting MPJPE and object-specific MSSD scores for various objects.

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 | Hand-Object Pose Estimation |
| Dataset (including any stated split) | HO3D v2 (test) |
| Metric | STMJE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 33 of 33 |
| 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

- [STMJE](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=STMJE>): Lower is better; unit: SCALAR.

- [MPJPE](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=MPJPE>): Lower is better; unit: SCALAR.

- [MSSD (mustard bottle)](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=MSSD%20(mustard%20bottle)>): Lower is better; unit: SCALAR.

- [MSSD (bleach cleanser)](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=MSSD%20(bleach%20cleanser)>): Lower is better; unit: SCALAR.

- [MSSD (potted meat can)](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=MSSD%20(potted%20meat%20can)>): Lower is better; unit: SCALAR.

- [PAMJE](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=PAMJE>): Lower is better; unit: SCALAR.

- [OME](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=OME>): Lower is better; unit: SCALAR.

- [ADD-S](<https://www.sota2.com/research/sota/hand-object-pose-estimation-on-ho3d-v2-test.md?metric=ADD-S>): Lower is better; unit: SCALAR.

## Recorded results

| Method | STMJE | Result date | Report paper |
| --- | --- | --- | --- |
| Liu et al. | 10.1 | Not recorded | 68fa725e1e209131cea55ff1 |
| Hasson et al. | 11 | Not recorded | 68fa725e1e209131cea55ff1 |
| Hasson et al. | 11.4 | Not recorded | 68fa725e1e209131cea55ff1 |
| Hasson et al. | 12 | Not recorded | 68fa725e1e209131cea55ff1 |
| HOISDF | 18.3 | Not recorded | 68fa725e1e209131cea55ff1 |
| HOMAE | 20.5 | Not recorded | 68fa79561e209131cea7d26a |
| GenHOI | 21.1 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| HOISDF | 22.8 | Not recorded | 68fa725e1e209131cea55ff1 |
| HOISDF | 22.8 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Qi et al. | 22.8 | Not recorded | 68fa79561e209131cea7d26a |
| LCP | 23.7 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Kuang et al. | 23.7 | Not recorded | 68fa79561e209131cea7d26a |
| Wang et al. | 23.8 | Not recorded | 68fa725e1e209131cea55ff1 |
| Li et al. | 25.3 | Not recorded | 68fa725e1e209131cea55ff1 |
| UniHOPE | 25.5 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Hampali et al. | 25.7 | Not recorded | 68fa725e1e209131cea55ff1 |
| Hampali et al. \[14\] | 25.7 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Hampali et al. | 25.7 | Not recorded | 68fa79561e209131cea7d26a |
| Hasson et al. \[16\] | 26.8 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Hasson et al. | 26.8 | Not recorded | 68fa79561e209131cea7d26a |
| Lin et al. | 28.4 | Not recorded | 68fa725e1e209131cea55ff1 |
| HFL-Net | 28.4 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Lin et al. | 28.4 | Not recorded | 68fa79561e209131cea7d26a |
| Liu et al. \[26\] | 31.7 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Liu et al. | 31.7 | Not recorded | 68fa79561e209131cea7d26a |
| Hasson et al. \[17\] | 31.8 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Hasson et al. | 31.8 | Not recorded | 68fa79561e209131cea7d26a |
| Hasson et al. \[15\] | 36.9 | Not recorded | 69bcd4aa0636e5bf4afc2be5 |
| Hasson et al. | 36.9 | Not recorded | 68fa79561e209131cea7d26a |

### Liu et al.

STMJE: 10.1. Result ID: 69921c8a3a6c3148490ca49c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a1e1e209131cea26096.md>)

[Implementation](<https://stevenlsw.github.io/Semi-Hand-Object>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 11. Result ID: 69921c8a3a6c3148490ca499.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 11.4. Result ID: 69921c8a3a6c3148490ca49a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 12. Result ID: 69921c8a3a6c3148490ca49b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### HOISDF

STMJE: 18.3. Result ID: 69921c8a3a6c3148490ca4a2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Implementation](<https://github.com/amathislab/HOISDF>)

Recorded evaluation configuration: {"Co-trained with synthetic data":true}. This record does not assert independent reproduction.

### HOMAE

STMJE: 20.5. Result ID: 6a476c2360b88bb339935d79.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GenHOI

STMJE: 21.1. Result ID: 69bd1f1d47f34ce924a7dec2.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### HOISDF

STMJE: 22.8. Result ID: 69921c8a3a6c3148490ca49f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Implementation](<https://github.com/amathislab/HOISDF>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### HOISDF

STMJE: 22.8. Result ID: 69bd1f1d47f34ce924a7debf.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Implementation](<https://github.com/amathislab/HOISDF>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Qi et al.

STMJE: 22.8. Result ID: 6a476c2360b88bb339935d76.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Implementation](<https://github.com/amathislab/HOISDF>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### LCP

STMJE: 23.7. Result ID: 69bd1f1d47f34ce924a7dec0.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Kuang et al.

STMJE: 23.7. Result ID: 6a476c2360b88bb339935d78.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Wang et al.

STMJE: 23.8. Result ID: 69921c8a3a6c3148490ca4a1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e5c1e209131cea3f5ca.md>)

[Implementation](<https://github.com/rongakowang/DenseMutualAttention.git>)

Recorded evaluation configuration: {"Co-trained with synthetic data":true}. This record does not assert independent reproduction.

### Li et al.

STMJE: 25.3. Result ID: 69921c8a3a6c3148490ca4a0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c181e209131cea32219.md>)

[Implementation](<https://github.com/lixiny/ArtiBoost>)

Recorded evaluation configuration: {"Co-trained with synthetic data":true}. This record does not assert independent reproduction.

### UniHOPE

STMJE: 25.5. Result ID: 69bd1f1d47f34ce924a7dec1.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77761e209131cea7344a.md>)

[Implementation](<https://github.com/JoyboyWang/UniHOPE_Pytorch>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hampali et al.

STMJE: 25.7. Result ID: 69921c8a3a6c3148490ca49d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c5d1e209131cea339d1.md>)

[Implementation](<https://www.tugraz.at/index.php?id=57823>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### Hampali et al. \[14\]

STMJE: 25.7. Result ID: 69bd1f1d47f34ce924a7debd.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c5d1e209131cea339d1.md>)

[Implementation](<https://www.tugraz.at/index.php?id=57823>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hampali et al.

STMJE: 25.7. Result ID: 6a476c2360b88bb339935d74.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c5d1e209131cea339d1.md>)

[Implementation](<https://www.tugraz.at/index.php?id=57823>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al. \[16\]

STMJE: 26.8. Result ID: 69bd1f1d47f34ce924a7debb.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6bfe1e209131cea3183b.md>)

[Implementation](<https://github.com/hassony2/homan>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 26.8. Result ID: 6a476c2360b88bb339935d72.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Lin et al.

STMJE: 28.4. Result ID: 69921c8a3a6c3148490ca49e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa725e1e209131cea55ff1.md>)

Recorded evaluation configuration: {"Co-trained with synthetic data":false}. This record does not assert independent reproduction.

### HFL-Net

STMJE: 28.4. Result ID: 69bd1f1d47f34ce924a7debe.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Lin et al.

STMJE: 28.4. Result ID: 6a476c2360b88bb339935d75.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Liu et al. \[26\]

STMJE: 31.7. Result ID: 69bd1f1d47f34ce924a7debc.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a1e1e209131cea26096.md>)

[Implementation](<https://stevenlsw.github.io/Semi-Hand-Object>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Liu et al.

STMJE: 31.7. Result ID: 6a476c2360b88bb339935d73.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a1e1e209131cea26096.md>)

[Implementation](<https://stevenlsw.github.io/Semi-Hand-Object>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al. \[17\]

STMJE: 31.8. Result ID: 69bd1f1d47f34ce924a7deb9.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 31.8. Result ID: 6a476c2360b88bb339935d70.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al. \[15\]

STMJE: 36.9. Result ID: 69bd1f1d47f34ce924a7deba.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4aa0636e5bf4afc2be5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa676d1e209131cea161f5.md>)

[Implementation](<https://hassony2.github.io/handobjectconsist>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Hasson et al.

STMJE: 36.9. Result ID: 6a476c2360b88bb339935d71.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79561e209131cea7d26a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b917.md>)

[Implementation](<http://www.di.ens.fr/willow/research/obman/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.