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Grasp

Benchmarks

Task NameDataset NameSOTA ResultTrend
Semantic SegmentationGraSP
DSC78.12
26
Instance SegmentationGraSP
mAP (Mask)0.5597
26
Object DetectionGraSP
mAP (BBox)62.5
26
Grasp Success PredictionGrasp dataset
Accuracy70.7
22
Instrument Presence RecognitionGraSP
mAP94.4
14
Phase RecognitionGraSP (test)
mAP76.72
10
Surgical Step RecognitionGraSP
F1-score16.8
8
Instrument Semantic SegmentationGraSP (cross-validation)
mIoU0.8705
8
Surgical Tool Presence DetectionGraSP
mAP76.4
7
Instrument Instance SegmentationGraSP (cross-validation)
mAP@0.5 (Box)92.65
6
Grasp-and-placeGrasp Hard
Average Completion Progress81.2
5
Grasp-and-placeGrasp Medium
Avg Completion Progress94.3
5
Grasp-and-placeGrasp-Easy
Average Completion Progress90.3
5
Instrument SegmentationGraSP (test)
mAP@0.5 (Box)90.29
4
Atomic Action DetectionGraSP (test)
mAP@0.5 IoU (Box)39.26
4
Step RecognitionGraSP (test)
mAP52.01
4
Surgical Phase RecognitionGrasp
mAP (Phases)79.14
4
Surgical Object RecognitionGraSP
Precision14.6
3
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