ResearchBenchmarksInstance Mask Extraction on GraspClutter6DInstance Mask Extraction on GraspClutter6DFollow21.3IoU (fh/fo)SimuScene-0.3325.28410.916.516Jun 2, 2026Evaluation resultsMethodMethodLinksIoU (fh/fo)IoUStabilitySimuScene2026.0621.322.734.7SAM3Dmode=baselinemode=baseline2026.065.58.10.73D-RE-GENbackground=our bgbackground=our bg2026.061.93.733D-RE-GENbackground=originalbackground=original2026.061.52.40Gen3DSRbackground=our bgbackground=our bg2026.060.720Gen3DSRbackground=originalbackground=original2026.060.519.70