ResearchBenchmarksRobotic Scene Segmentation Average across OCID, ClearGrasp, GraspNet, WISDOM, YCB-Video, and LINEMODRobotic Scene Segmentation Average across OCID, ClearGrasp, GraspNet, WISDOM, YCB-Video, and LINEMODFollow16.8Change in mIoU (%)RepSAM-2.6482.4017.4512.499May 25, 2026Evaluation resultsMethodMethodLinksChange in mIoU (%)95% Confidence Intervalp-valueRepSAMComparison=vs. SAM-DSAComparison=vs. SAM-DSA2026.0516.815.90.001RepSAMComparison=vs. DoRAComparison=vs. DoRA2026.057.97.10.001RepSAMComparison=vs. Full FT...Comparison=vs. Full FT (SAM ViT-H)2026.05-1.9-2.50.002