# 路线三：面向三维铰链物体生成的批量评测 20260510

- 生成时间：2026-05-10T14:00:44Z
- 主评测对象：PAct
- 样本数：27
- 导出的 closed/mid/open 状态 GLB：81
- 可与统一数据集 GT 对齐的样本：5
- portal slug：`route3-batch-benchmark-20260510`

## 选择 PAct 的原因

PAct has the largest path-backed successful reproduction batch in this workspace (22 README post-fix outputs), plus 5 raw-PM synthetic outputs that align to unified PartNetMobility GT.

## 已定位的路线三历史脚本/报告

- `/data/250010098/Unified_dataset/articulated_generation_benchmark/evaluations/real_method_eval_20260509/compute_real_method_metrics.py`
- `/data/250010098/Unified_dataset/articulated_generation_benchmark/evaluations/real_method_eval_20260509/build_expanded_route3_benchmark_20260510.py`
- `/data/250010098/Unified_dataset/articulated_generation_benchmark/evaluations/real_method_eval_20260509/publish_route3_official_method_dashboard_20260510.py`
- `/data/250010098/Unified_dataset/articulated_generation_benchmark/evaluations/pact_v03_real_metrics_20260510/pact_v03_real_metrics_report.json`
- `/data/250010098/Unified_dataset/articulated_generation_benchmark/evaluations/pact_v03_real_metrics_expanded_20260510/pact_v03_real_metrics_expanded_report.json`

## 已定位的路线三/PAct/PhyX portal 页面

- `route3-batch-benchmark-20260510`：路线三：PAct 批量评测与扩展指标 20260510，assets=66
- `route3-pact-v03-real-metrics-expanded-20260510`：路线三：PAct v0.3 扩展真实评测，assets=5
- `route3-pact-v03-real-metrics-20260510`：路线三：PAct v0.3 真实评测，assets=5
- `route2-ot-scenetransporter-pact-complete-20260510`：路线二：OT 到 SceneTransporter 再到 PAct 完整讲义，assets=1
- `route3-expanded-benchmark-v0-2-20260510`：路线三：扩展评测标准与重评定，assets=12
- `route3-official-method-dashboard-20260510`：路线三：官方方法评测与 3D 结果入口，assets=12
- `scenetransporter-ot-pact-lecture-20260509`：SceneTransporter 思想与 OT 融入 PAct，assets=1
- `route3-pact-official-rerun2-20260510`：路线三：PAct 官方实现 rerun2，assets=2
- `route3-pact-official-multi-examples-20260509`：路线三：PAct 官方多样本重跑，assets=5
- `route3-pact-official-rerun-20260509`：路线三：PAct 官方实现重跑，assets=1
- `route3-official-example-visual-20260509`：路线三：官方实现重跑例子，assets=1
- `real-method-eval-20260509`：路线三：官方实现切换，assets=2
- `ud4-route3-3d-result-models-20260509`：历史废弃：路线三：评测结果三维模型，assets=7
- `ud4-route3-raw-source-method-eval-20260509`：历史废弃：路线三：原数据集 GT 方法评测，assets=976
- `ud4-method-benchmark-against-unified-v0-2-20260509`：历史废弃：路线三：统一数据集方法评测 v0.2，assets=6352
- `ud4-unified-dataset-full-eval-20260509`：历史废弃：路线三：统一数据集完整评测，assets=6352
- `gym-real-multimethod-20260424`：Gym Real Multi-Method Comparison，assets=6
- `pact-official-inference-repro-20260418`：PAct Official Inference Reproduction，assets=None
- `pact-readme-strict-check-20260418`：PAct README Strict Check (Pre-Fix Failure Analysis)，assets=None
- `pact-readme-exr-fix-probe-20260418`：PAct README EXR Fix Probe，assets=None
- `pact-readme-postfix-full-20260418`：PAct README Post-Fix Full Batch，assets=22
- `pact-data-viewfit-mask-probe-20260418`：PAct Data Viewfit Mask Probe，assets=None
- `pact-appendix-d-vlmsam2-dishwasher-20260419`：PAct Appendix-D VLM+SAM2 Dishwasher Probe，assets=None
- `pact-appendix-d-vlmsam2-multi-20260419`：PAct Appendix-D VLM+SAM2 Multi-Example Probe，assets=None
- `pact-appendix-d-to-pact-closed-loop-20260419`：PAct Appendix-D to PAct Closed Loop，assets=None
- `pact-rawpm-synthetic-probe-20260419`：PAct Raw PM Synthetic Probe，assets=None
- `pact-partnext-simple-eval-20260419`：PAct x PartNeXt Simple Eval，assets=None
- `pact-partnext-multicat-eval-20260419`：PAct x PartNeXt Multi-Category Eval，assets=None
- `scenetransporter-pact-bridge-20260419`：SceneTransporter-style Assignment -> PAct Bridge，assets=4
- `scenetransporter-part-generation-20260419`：SceneTransporter-style Pure Part Generation Probe，assets=4

## 指标组均值

- availability: 1.0
- geometry: 1.0
- part_structure: 0.9938
- kinematics: 0.9453
- motion_consistency: 1.0
- scene_usability: 1.0
- texture_material: 0.8148
- gt_accuracy_subset: 0.5996

## 指标覆盖说明

- 可用性：object.json 解析、part GLB 引用存在率、closed/mid/open 导出成功率、状态 GLB 加载率。
- 几何：状态 GLB 加载、顶点数一致性、bbox 有效性、尺度合理性。
- 部件/结构：root 数、tree acyclic、parent 合法率、part 引用存在率、bbox 结构有效率。
- 运动学：joint type 合法率、axis/origin/limit 有效性、非零运动率；有 GT 的样本额外计 joint count/type/axis/limit。
- 运动一致性：closed/mid/open 顶点一致性、bbox variation、detachment proxy。
- 场景可用：尺度代理、导出格式代理、状态 GLB 可加载代理。
- 纹理材质：GLB 中 texture material 检测。没有外观 GT，因此 appearance similarity 不计。

## 不计算项原则

Chamfer、Normal Consistency、part mIoU、语义 part accuracy、collision/self-collision、稳定性、canonical orientation、placement 等没有可靠 GT 或需要真实仿真的项，不虚构分数，逐样本写入 `not_computed`。

## 样本列表

- Dishwasher@Dishwasher_001_processed.: proxy=1.0, links=2, movable=1, GT=no
- Dishwasher@Dishwasher_002_processed.: proxy=1.0, links=2, movable=1, GT=no
- Dishwasher@Dishwasher_003_processed.: proxy=1.0, links=2, movable=1, GT=no
- Microwave@Microwave_000_processed.: proxy=1.0, links=2, movable=1, GT=no
- Microwave@Microwave_001_processed.: proxy=1.0, links=2, movable=1, GT=no
- Microwave@Microwave_002_processed.: proxy=1.0, links=2, movable=1, GT=no
- Oven@Oven_001_processed.: proxy=1.0, links=2, movable=1, GT=no
- Refrigerator@Refrigerator_001_processed.: proxy=1.0, links=3, movable=2, GT=no
- Refrigerator@Refrigerator_002_processed.: proxy=1.0, links=3, movable=2, GT=no
- StorageFurniture@StorageFurniture_001_processed.: proxy=1.0, links=3, movable=2, GT=no
- StorageFurniture@StorageFurniture_002_processed.: proxy=1.0, links=4, movable=3, GT=no
- StorageFurniture@StorageFurniture_003_processed.: proxy=1.0, links=3, movable=2, GT=no
- StorageFurniture@StorageFurniture_004_processed.: proxy=1.0, links=6, movable=5, GT=no
- Table@Desk01_two_drwawer_processed.: proxy=1.0, links=3, movable=2, GT=no
- Table@Table_002_processed.: proxy=1.0, links=8, movable=7, GT=no
- Table@Table_003_new_processed.: proxy=1.0, links=4, movable=3, GT=no
- Table@Table_004_processed.: proxy=1.0, links=4, movable=3, GT=no
- Table@Table_door_002_processed.: proxy=1.0, links=4, movable=3, GT=no
- Table@Table_door_003_processed.: proxy=1.0, links=5, movable=4, GT=no
- Table@Table_door_004_processed.: proxy=1.0, links=6, movable=5, GT=no
- WashingMachine@WashingMachine_001_processed.: proxy=1.0, links=2, movable=1, GT=no
- WashingMachine@WashingMachine_002_processed.: proxy=1.0, links=2, movable=1, GT=no
- Bottle_3517@Bottle_3517_synthetic_processed.: proxy=0.8889, links=2, movable=0, GT=yes
- Display_3386@Display_3386_synthetic_processed.: proxy=0.8889, links=2, movable=0, GT=yes
- Door_8867@Door_8867_synthetic_processed.: proxy=1.0, links=3, movable=2, GT=yes
- Safe_1363@Safe_1363_synthetic_processed.: proxy=1.0, links=3, movable=2, GT=yes
- TrashCan_10357@TrashCan_10357_synthetic_processed.: proxy=0.9484, links=2, movable=2, GT=yes