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Benchmarks
Articulated Object Generation on Articulated Objects Generation (val)
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10.21
Chamfer Distance (CD)
PhysForge
9.6016
13.7083
17.815
21.9217
May 6, 2026
Chamfer Distance (CD)
Clip Similarity
Joint Axis Error (5 joints)
Joint Pivot Error (5 joints)
Joint Axis Error (All)
Joint Pivot Error (All)
Updated 27d ago
Evaluation Results
Method
Method
Links
Chamfer Distance (CD)
Clip Similarity
Joint Axis Error (5 joints)
Joint Pivot Error (5 joints)
Joint Axis Error (All)
Joint Pivot Error (All)
PhysForge
Joint type embedding=t...
2026.05
10.21
93
0.101
0.071
0.164
0.096
PhysForge (w/o joint type emb)
Joint type embedding=f...
2026.05
10.73
90
0.157
0.132
0.292
0.141
PhysForge (w/o kinetics enc)
Kinetics encoding=false
2026.05
11.31
89
0.158
0.117
0.204
0.12
Singapo
2026.05
21.1
85
0.241
0.153
-
-
Articulate Anything
2026.05
23.31
87
0.608
0.257
0.694
0.197
URDFormer
2026.05
25.42
84
0.781
0.652
-
-
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