PAct complex-object axis head training
Leave-one-object-out training on GAPartNet part instances. The head ranks local axis candidates from semantic, part geometry and root-frame features; it is a lightweight proxy for a Stage-2 instance-conditioned articulation head.
complex parts259
majority accept0.730
learned accept0.792
oracle accept0.950
Metrics
| split | parts | majority prior | learned head | global xyz oracle | candidate oracle | majority err | learned err | oracle err |
|---|---|---|---|---|---|---|---|---|
| few_joint <=3 | 0 | 0.000 | 0.000 | 0.000 | 0.000 | 0.00 | 0.00 | 0.00 |
| many_joint >=4 | 259 | 0.730 | 0.792 | 0.900 | 0.950 | 22.69 | 16.43 | 5.97 |
| very many >=8 | 208 | 0.784 | 0.846 | 0.894 | 0.942 | 18.21 | 11.99 | 6.97 |
Charts
Complex examples
| sample | category | part | GT joints | chosen | err | oracle | oracle err |
|---|---|---|---|---|---|---|---|
| electronics_104011 | Printer | button | 27 | global_y | 0.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | global_y | 0.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | global_y | 0.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | global_y | 0.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 3.3 | root_pca2 | 3.3 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 3.3 | root_pca2 | 3.3 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 3.3 | root_pca2 | 3.3 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 3.3 | root_pca2 | 3.3 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | root_pca2 | 7.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | to_root | 32.8 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | to_root | 33.6 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | to_root | 37.0 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | to_root | 37.9 | global_y | 0.0 |
| electronics_104011 | Printer | button | 27 | to_root | 42.2 | global_y | 0.0 |
| electronics_103972 | Printer | button | 22 | part_pca2 | 38.7 | to_root | 7.0 |
| electronics_103972 | Printer | button | 22 | part_pca2 | 38.7 | to_root | 27.0 |
| electronics_103972 | Printer | button | 22 | part_pca2 | 38.7 | root_pca2 | 30.2 |