# PAct vs PAct-Transporter on Non-PM GAPartNet 100

Generated: `2026-05-14T05:09:53+00:00`

PAct is trained on PartNet-Mobility, so this run moves the main 100-sample benchmark to GAPartNet from the local SceneSmith unified package.
The PAct-Transporter variant uses PartNet-Mobility only as a category prior/prototype memory; GAPartNet ground truth is used only for scoring.

## Strict Summary

| metric | raw PAct | PAct-Transporter | delta |
|---|---:|---:|---:|
| `strict_joint_count_abs_error` | 2.0000 | 1.9400 | -0.0600 |
| `strict_match_count` | 0.9000 | 0.9700 | +0.0700 |
| `strict_joint_precision` | 0.4242 | 0.4942 | +0.0700 |
| `strict_joint_recall` | 0.3450 | 0.4150 | +0.0700 |
| `strict_joint_f1` | 0.3695 | 0.4395 | +0.0700 |
| `strict_type_match_rate` | 0.5800 | 0.6200 | +0.0400 |
| `strict_axis_mean_error_deg` | 44.8045 | 38.5548 | -6.2497 |
| `strict_origin_mean_error` | 0.2305 | 0.2576 | +0.0271 |
| `strict_tree_valid` | 0.9500 | 1.0000 | +0.0500 |

## Scope

- evaluated samples: `100`
- changed by transporter: `9`
- dataset categories: `{"large_furniture": 12, "major_appliances": 12, "household_items": 11, "small_furniture": 11, "small_appliances": 10, "household_fixtures": 11, "storage": 11, "electronics": 11, "architectural_fixtures": 11}`

## Samples

| sample | category | actions | strict F1 raw->OT | count err raw->OT | tree raw->OT |
|---|---|---:|---:|---:|---:|
| `large_furniture_48797` | `StorageFurniture` | 0 | 0.500->0.500 | 2->2 | 1->1 |
| `major_appliances_11231` | `Refrigerator` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_items_100470` | `Bucket` | 1 | 0.000->1.000 | 1->0 | 0->1 |
| `small_furniture_26073` | `Table` | 1 | 0.000->1.000 | 1->0 | 1->1 |
| `small_appliances_103466` | `Toaster` | 0 | 0.333->0.333 | 0->0 | 1->1 |
| `household_fixtures_102708` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_100162` | `Box` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `electronics_103988` | `Printer` | 0 | 0.000->0.000 | 8->8 | 1->1 |
| `architectural_fixtures_9016` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_46955` | `StorageFurniture` | 0 | 0.857->0.857 | 1->1 | 1->1 |
| `major_appliances_11622` | `Dishwasher` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_100056` | `KitchenPot` | 1 | 0.000->1.000 | 0->0 | 0->1 |
| `small_furniture_20985` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `small_appliances_7265` | `Microwave` | 0 | 0.364->0.364 | 7->7 | 1->1 |
| `household_fixtures_102629` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101583` | `Safe` | 0 | 0.091->0.091 | 6->6 | 1->1 |
| `electronics_103878` | `Printer` | 0 | 0.000->0.000 | 7->7 | 1->1 |
| `architectural_fixtures_9288` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_48491` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_12583` | `Dishwasher` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_102181` | `TrashCan` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `small_furniture_22692` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `small_appliances_103074` | `CoffeeMachine` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_fixtures_101320` | `Toilet` | 1 | 0.000->1.000 | 0->0 | 0->1 |
| `storage_102316` | `Safe` | 0 | 0.333->0.333 | 0->0 | 1->1 |
| `electronics_103863` | `Printer` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `architectural_fixtures_8997` | `Door` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `large_furniture_45606` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_12259` | `Dishwasher` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_102359` | `Bucket` | 1 | 0.000->1.000 | 1->0 | 0->1 |
| `small_furniture_30341` | `Table` | 1 | 0.000->1.000 | 1->0 | 1->1 |
| `small_appliances_103118` | `CoffeeMachine` | 0 | 0.333->0.333 | 2->2 | 1->1 |
| `household_fixtures_102690` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_100202` | `Box` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `electronics_103974` | `Printer` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `architectural_fixtures_8994` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_49042` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_12612` | `Dishwasher` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_102192` | `TrashCan` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `small_furniture_26899` | `Table` | 1 | 1.000->0.000 | 0->0 | 0->1 |
| `small_appliances_7236` | `Microwave` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_fixtures_102663` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101623` | `Safe` | 0 | 0.333->0.333 | 0->0 | 1->1 |
| `electronics_103972` | `Printer` | 0 | 0.000->0.000 | 21->21 | 1->1 |
| `architectural_fixtures_9393` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_45689` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_101946` | `Oven` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_items_100028` | `KitchenPot` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `small_furniture_22508` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `small_appliances_103043` | `CoffeeMachine` | 0 | 0.000->0.000 | 11->11 | 1->1 |
| `household_fixtures_102639` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101613` | `Safe` | 0 | 0.500->0.500 | 0->0 | 1->1 |
| `electronics_104011` | `Printer` | 0 | 0.000->0.000 | 23->23 | 1->1 |
| `architectural_fixtures_9263` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_45178` | `StorageFurniture` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `major_appliances_7187` | `Oven` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_102201` | `TrashCan` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `small_furniture_32259` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `small_appliances_7167` | `Microwave` | 0 | 0.800->0.800 | 1->1 | 1->1 |
| `household_fixtures_102702` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_100221` | `Box` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `electronics_104030` | `Printer` | 0 | 0.000->0.000 | 5->5 | 1->1 |
| `architectural_fixtures_8983` | `Door` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `large_furniture_45747` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_10905` | `Refrigerator` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_items_100462` | `Bucket` | 1 | 0.000->1.000 | 1->0 | 1->1 |
| `small_furniture_33914` | `Table` | 0 | 0.500->0.500 | 0->0 | 1->1 |
| `small_appliances_103016` | `CoffeeMachine` | 0 | 0.000->0.000 | 2->2 | 1->1 |
| `household_fixtures_102634` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101564` | `Safe` | 0 | 0.105->0.105 | 7->7 | 1->1 |
| `electronics_103978` | `Printer` | 0 | 0.000->0.000 | 16->16 | 1->1 |
| `architectural_fixtures_8903` | `Door` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `large_furniture_47808` | `StorageFurniture` | 0 | 0.667->0.667 | 1->1 | 1->1 |
| `major_appliances_103452` | `WashingMachine` | 0 | 0.333->0.333 | 8->8 | 1->1 |
| `household_items_102156` | `TrashCan` | 0 | 0.500->0.500 | 2->2 | 1->1 |
| `small_furniture_25308` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `household_fixtures_101319` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_102311` | `Safe` | 0 | 0.333->0.333 | 0->0 | 1->1 |
| `electronics_103867` | `Printer` | 0 | 0.000->0.000 | 15->15 | 1->1 |
| `architectural_fixtures_9070` | `Door` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `large_furniture_46466` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_102055` | `Oven` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `household_items_100623` | `KitchenPot` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `small_furniture_30663` | `Table` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `small_appliances_103048` | `CoffeeMachine` | 0 | 0.667->0.667 | 2->2 | 1->1 |
| `household_fixtures_102655` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101673` | `Suitcase` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `electronics_104004` | `Printer` | 0 | 0.000->0.000 | 3->3 | 1->1 |
| `architectural_fixtures_8919` | `Door` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `large_furniture_45661` | `StorageFurniture` | 0 | 0.500->0.500 | 2->2 | 1->1 |
| `major_appliances_100283` | `WashingMachine` | 0 | 0.235->0.235 | 5->5 | 1->1 |
| `household_items_102189` | `TrashCan` | 0 | 0.000->0.000 | 0->0 | 1->1 |
| `small_furniture_26503` | `Table` | 1 | 0.000->1.000 | 1->0 | 1->1 |
| `small_appliances_103065` | `CoffeeMachine` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `household_fixtures_102619` | `Toilet` | 0 | 0.000->0.000 | 1->1 | 1->1 |
| `storage_101605` | `Safe` | 0 | 0.500->0.500 | 0->0 | 1->1 |
| `electronics_104020` | `Printer` | 0 | 0.000->0.000 | 9->9 | 1->1 |
| `architectural_fixtures_8961` | `Door` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `large_furniture_45645` | `StorageFurniture` | 0 | 1.000->1.000 | 0->0 | 1->1 |
| `major_appliances_103351` | `WashingMachine` | 0 | 0.167->0.167 | 8->8 | 1->1 |

## Readout

This is the fairer generalization setting. PM-derived priors are allowed only as source-domain memory, while all target-domain labels are held out until scoring.