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Benchmarks
3D Affordance Keypoint Detection on UMDKP (test)
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0.37
Grasp NMSE
AffKP
0.3692
0.3746
0.38
0.3854
Nov 27, 2025
Grasp NMSE
Cut NMSE
Scoop NMSE
Contain NMSE
Pound NMSE
W-Grasp NMSE
Mean NMSE
Grasp PCK@0.3
Cut PCK@0.3
Scoop PCK@0.3
Contain PCK@0.3
Pound PCK@0.3
W-Grasp PCK@0.3
Mean PCK@0.3
Updated 1mo ago
Evaluation Results
Method
Method
Links
Grasp NMSE
Cut NMSE
Scoop NMSE
Contain NMSE
Pound NMSE
W-Grasp NMSE
Mean NMSE
Grasp PCK@0.3
Cut PCK@0.3
Scoop PCK@0.3
Contain PCK@0.3
Pound PCK@0.3
W-Grasp PCK@0.3
Mean PCK@0.3
AffKP
Architecture=Encoder-D...
2025.11
0.37
0.26
0.33
0.42
0.82
0.31
0.42
56.37
65.96
59.78
58.49
24.52
71.06
56.03
FAKP
Architecture=Encoder-D...
2025.11
0.39
0.27
0.28
0.18
0.35
0.16
0.27
42.91
64.07
66.06
82.96
52.57
97.1
67.61
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