SAPIEN
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| 3D Part Instance Segmentation | SAPIEN single point cloud frames (test) | mIoU67.3 | 10 | |
| 3D Shape Reconstruction | SAPIEN unseen synthetic shapes (test) | Score (Laptop)1.656 | 8 | |
| pulling | SAPIEN (test) | Sample Manipulation Accuracy36.19 | 8 | |
| pushing | SAPIEN (test) | Sample Manipulation Accuracy43.52 | 8 | |
| Pulling Affordance Prediction | SAPIEN (PartNet-Mobility & ShapeNet) Novel (test) | F-Score61.32 | 7 | |
| Pulling Affordance Prediction | SAPIEN PartNet-Mobility & ShapeNet (test) | F-Score71.28 | 7 | |
| Pushing Affordance Prediction | SAPIEN (PartNet-Mobility & ShapeNet) Novel (test) | F-Score76.11 | 7 | |
| Pushing Affordance Prediction | SAPIEN PartNet-Mobility & ShapeNet (test) | F-Score77.3 | 7 | |
| Robotic Manipulation | SAPIEN Unseen v1 (test) | Success Rate53 | 5 | |
| Robotic Manipulation | SAPIEN Seen v1 (train test) | Avg Success Rate81 | 5 | |
| Appearance reconstruction | SAPIEN synthetic shapes (unseen) | Laptop Deviation13.32 | 4 | |
| Shape Interpolation | SAPIEN Interpolation (test) | Laptop Error0.309 | 4 |
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