ResearchBenchmarksObject-CAD Alignment Runtime on ScanNet (val)Object-CAD Alignment Runtime on ScanNet (val)Follow0.35Runtime (7 Objects)CAOA-11.1866.6475144.475222.3025Jun 16, 2026Evaluation resultsMethodMethodLinksRuntime (7 Objects)Runtime (16 Objects)Runtime (20 Objects)CAOAInstance Segmentation...Instance Segmentation Approach=SphericalMask2026.060.350.50.56CAOAInstance Segmentation...Instance Segmentation Approach=SoftGroup2026.060.380.540.59CIS2VR2026.060.550.610.66End-to-End2026.060.621.112.6SceneCAD2026.062—2.6Scan2CAD2026.06288.6565.86740.34