ResearchBenchmarksInstance Mask Extraction on AriaDigitalTwinInstance Mask Extraction on AriaDigitalTwinFollow23.4IoU (fh/fo)SimuScene-0.525.6911.918.11Jun 2, 2026Evaluation resultsMethodMethodLinksIoU (fh/fo)IoU (2D)3D IoU (fh/fo)3D IoUStability (%)SimuScene2026.0623.427.528.633.131.5SAM3Dmode=baselinemode=baseline2026.066.411.54.56.20.5Gen3DSRbackground=our bgbackground=our bg2026.066.31118.323.603D-RE-GENbackground=our bgbackground=our bg2026.063.76.15.98.203D-RE-GENbackground=originalbackground=original2026.062.94.16.18.20Gen3DSRbackground=originalbackground=original2026.060.455.11.123.60