OakInk
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Hand pose accuracy in HOI reconstruction | OakInk (test) | MPVPE0.86 | 7 | |
| Hand-object interaction motion synthesis | OakInk (out-of-distribution) | IVr Error4.1 | 6 | |
| Hand Manipulation Sequence Generation | OakInk (Seen) | Diversity277.38 | 6 | |
| Task-oriented grasping | OakInk-PartialPC (test) | Penetration Volume (cm3)6.52 | 6 | |
| Grasp Synthesis | OakInk (in-domain) | Penetration Volume8.21 | 5 | |
| Hand Manipulation Sequence Generation | OakInk (Unseen) | MPJPE58.62 | 5 | |
| Object Quality in HOI Reconstruction | OakInk (test) | F50.247 | 5 | |
| Point cloud completion | OakInk-PartialPC (test) | Chamfer Distance (×10⁻⁴)1.66 | 4 | |
| Intent-Based Interaction Generation | OakInk-Shape (test) | Penetration Depth (cm)1.57 | 4 | |
| Bimanual tool-use (Spread on bread) | Oakink2 9b728@0 | Success Rate86.64 | 3 | |
| Bimanual tool-use (Shear paper) | Oakink2 e1fa6@0 | Success Rate (%)35.84 | 3 | |
| Bimanual tool-use (Brush whiteboard) | Oakink 2 (817fb@0) | Success Rate (SR)62.24 | 3 | |
| Bimanual tool-use (Pour mug to mug) | Oakink2 1292e@0 | SR (%)49.77 | 3 | |
| Bimanual tool-use (Scoop into bowl) | Oakink2 97055@0 | Success Rate (SR)86.95 | 3 | |
| Bimanual tool-use (Cut bread with knife) | Oakink2 083f7@0 | Success Rate (%)90.05 | 3 | |
| Grasping and Trajectory Following | OakInk 185 objects (test) | Grasp Success Rate94.3 | 3 | |
| Grasping and Trajectory Following | OakInk 1330 objects (train) | Grasp Success Rate95.6 | 3 | |
| Hand-Object Interaction Synthesis | OakInk | Preference Ratio72 | 2 | |
| Grasp Pose Generation | OakInk Shape (test) | Penetration Depth (cm)0.62 | 2 | |
| Hand-Object Pose Estimation | OakInk-Image (SP0) | MPCPE (All)23.52 | 2 |
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