Route3: GT-complete Method Quality Subset

This page evaluates PAct as a 3D articulated-object generation method, not as a dataset-ingestion check. Geometry and part metrics are recomputed from existing PAct part PLY outputs and PartNetMobility GT part OBJ files; kinematics reuse the verified PAct v0.3 report from 2026-05-10.

geometry
0.4695

part
0.4262

kinematics
0.7496

motion
1.0

quality
0.6613

sample	cat	CD	F@.05	part CD	bbox IoU	joint #	type	axis deg	quality
Display_3386	Display	0.30211	0.0291	0.300967	0.0001	0.0	0.0	0.0	0.4871
Door_8867	Door	0.295007	0.0289	0.331074	0.0	1.0	1.0	0.0	0.71
Safe_1363	Safe	0.167824	0.153	0.310639	0.2559	1.0	1.0	1.05	0.7371
TrashCan_10357	TrashCan	0.159252	0.4695	0.308634	0.3759	0.0	1.0	89.84	0.7111

Display_3386

whole CD 0.30211 · F@0.05 0.0291 · quality 0.4871

metrics JSON

{
  "sample": "Display_3386",
  "pm_id": "3386",
  "category": "Display",
  "method": "PAct",
  "pred_path": "/data/250010098/PAct/outputs/rawpm_synth_pact_infer_all5_20260419/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/Display_3386@Display_3386_synthetic_processed.@ng/object.json",
  "gt_path": "/data/250010098/Unified_dataset/assets_scenesmith_compatible/Household_native_full_scenesmith_20260429/PartNetMobility/3386/mobility.sdf",
  "prediction_parts": 2,
  "gt_parts": 36,
  "whole_geometry": {
    "chamfer_l2": 0.30211,
    "fscore_002": 0.0083,
    "fscore_005": 0.0291
  },
  "part_geometry": {
    "matched_part_count": 2,
    "mean_part_chamfer_l2": 0.300967,
    "mean_part_bbox_iou_proxy": 0.0001,
    "matches": [
      {
        "pred_part": "part_0.ply",
        "gt_part": "original-21.obj",
        "part_chamfer_l2": 0.341865,
        "part_bbox_iou_proxy": 0.0003
      },
      {
        "pred_part": "part_1.ply",
        "gt_part": "original-24.obj",
        "part_chamfer_l2": 0.260068,
        "part_bbox_iou_proxy": 0.0
      }
    ]
  },
  "kinematics": {
    "pred_joint_count": 0,
    "gt_joint_count": 5,
    "joint_count_accuracy": 0.0,
    "joint_type_accuracy": 0.0,
    "axis_mean_error_deg": 0.0,
    "axis_finite_rate": 0.0,
    "limit_sanity_rate": 0.0,
    "kinematic_tree_valid": true,
    "urdf_parse_success": true,
    "urdf_links": 2,
    "urdf_joints": 1
  },
  "motion_consistency_proxy": 1.0,
  "scores": {
    "geometry_score": 0.3635,
    "part_score": 0.2516,
    "kinematics_score": 0.3333,
    "motion_score": 1.0,
    "method_quality_score": 0.4871
  },
  "state_glb": {
    "closed": "assets/Display_3386_Display_3386_synthetic_processed./closed.glb",
    "mid": "assets/Display_3386_Display_3386_synthetic_processed./mid.glb",
    "open": "assets/Display_3386_Display_3386_synthetic_processed./open.glb"
  }
}

Door_8867

whole CD 0.295007 · F@0.05 0.0289 · quality 0.71

metrics JSON

{
  "sample": "Door_8867",
  "pm_id": "8867",
  "category": "Door",
  "method": "PAct",
  "pred_path": "/data/250010098/PAct/outputs/rawpm_synth_pact_infer_all5_20260419/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/Door_8867@Door_8867_synthetic_processed.@ng/object.json",
  "gt_path": "/data/250010098/Unified_dataset/assets_scenesmith_compatible/Household_native_full_scenesmith_20260429/PartNetMobility/8867/mobility.sdf",
  "prediction_parts": 3,
  "gt_parts": 4,
  "whole_geometry": {
    "chamfer_l2": 0.295007,
    "fscore_002": 0.0037,
    "fscore_005": 0.0289
  },
  "part_geometry": {
    "matched_part_count": 3,
    "mean_part_chamfer_l2": 0.331074,
    "mean_part_bbox_iou_proxy": 0.0,
    "matches": [
      {
        "pred_part": "part_0.ply",
        "gt_part": "original-3.obj",
        "part_chamfer_l2": 0.294495,
        "part_bbox_iou_proxy": 0.0
      },
      {
        "pred_part": "part_1.ply",
        "gt_part": "original-4.obj",
        "part_chamfer_l2": 0.355035,
        "part_bbox_iou_proxy": 0.0001
      },
      {
        "pred_part": "part_2.ply",
        "gt_part": "original-5.obj",
        "part_chamfer_l2": 0.343693,
        "part_bbox_iou_proxy": 0.0
      }
    ]
  },
  "kinematics": {
    "pred_joint_count": 2,
    "gt_joint_count": 2,
    "joint_count_accuracy": 1.0,
    "joint_type_accuracy": 1.0,
    "axis_mean_error_deg": 0.0,
    "axis_finite_rate": 1.0,
    "limit_sanity_rate": 1.0,
    "kinematic_tree_valid": true,
    "urdf_parse_success": true,
    "urdf_links": 3,
    "urdf_joints": 2
  },
  "motion_consistency_proxy": 1.0,
  "scores": {
    "geometry_score": 0.3669,
    "part_score": 0.473,
    "kinematics_score": 1.0,
    "motion_score": 1.0,
    "method_quality_score": 0.71
  },
  "state_glb": {
    "closed": "assets/Door_8867_Door_8867_synthetic_processed./closed.glb",
    "mid": "assets/Door_8867_Door_8867_synthetic_processed./mid.glb",
    "open": "assets/Door_8867_Door_8867_synthetic_processed./open.glb"
  }
}

Safe_1363

whole CD 0.167824 · F@0.05 0.153 · quality 0.7371

metrics JSON

{
  "sample": "Safe_1363",
  "pm_id": "1363",
  "category": "Safe",
  "method": "PAct",
  "pred_path": "/data/250010098/PAct/outputs/rawpm_synth_pact_infer_all5_20260419/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/Safe_1363@Safe_1363_synthetic_processed.@ng/object.json",
  "gt_path": "/data/250010098/Unified_dataset/assets_scenesmith_compatible/Household_native_full_scenesmith_20260429/PartNetMobility/1363/mobility.sdf",
  "prediction_parts": 3,
  "gt_parts": 7,
  "whole_geometry": {
    "chamfer_l2": 0.167824,
    "fscore_002": 0.0261,
    "fscore_005": 0.153
  },
  "part_geometry": {
    "matched_part_count": 3,
    "mean_part_chamfer_l2": 0.310639,
    "mean_part_bbox_iou_proxy": 0.2559,
    "matches": [
      {
        "pred_part": "part_0.ply",
        "gt_part": "original-7.obj",
        "part_chamfer_l2": 0.178173,
        "part_bbox_iou_proxy": 0.2155
      },
      {
        "pred_part": "part_1.ply",
        "gt_part": "original-4.obj",
        "part_chamfer_l2": 0.20366,
        "part_bbox_iou_proxy": 0.5521
      },
      {
        "pred_part": "part_2.ply",
        "gt_part": "original-8.obj",
        "part_chamfer_l2": 0.550083,
        "part_bbox_iou_proxy": 0.0
      }
    ]
  },
  "kinematics": {
    "pred_joint_count": 2,
    "gt_joint_count": 2,
    "joint_count_accuracy": 1.0,
    "joint_type_accuracy": 1.0,
    "axis_mean_error_deg": 1.0499564519864435,
    "axis_finite_rate": 1.0,
    "limit_sanity_rate": 1.0,
    "kinematic_tree_valid": true,
    "urdf_parse_success": true,
    "urdf_links": 3,
    "urdf_joints": 2
  },
  "motion_consistency_proxy": 1.0,
  "scores": {
    "geometry_score": 0.4926,
    "part_score": 0.458,
    "kinematics_score": 0.998,
    "motion_score": 1.0,
    "method_quality_score": 0.7371
  },
  "state_glb": {
    "closed": "assets/Safe_1363_Safe_1363_synthetic_processed./closed.glb",
    "mid": "assets/Safe_1363_Safe_1363_synthetic_processed./mid.glb",
    "open": "assets/Safe_1363_Safe_1363_synthetic_processed./open.glb"
  }
}

TrashCan_10357

whole CD 0.159252 · F@0.05 0.4695 · quality 0.7111

metrics JSON

{
  "sample": "TrashCan_10357",
  "pm_id": "10357",
  "category": "TrashCan",
  "method": "PAct",
  "pred_path": "/data/250010098/PAct/outputs/rawpm_synth_pact_infer_all5_20260419/seed42_slatcfg7.0_sscfg7.0_sssteps25_slatsteps25_artioutmean_feature_regression_steps/exported_arti_objects/TrashCan_10357@TrashCan_10357_synthetic_processed.@ng/object.json",
  "gt_path": "/data/250010098/Unified_dataset/assets_scenesmith_compatible/Household_native_full_scenesmith_20260429/PartNetMobility/10357/mobility.sdf",
  "prediction_parts": 2,
  "gt_parts": 4,
  "whole_geometry": {
    "chamfer_l2": 0.159252,
    "fscore_002": 0.1309,
    "fscore_005": 0.4695
  },
  "part_geometry": {
    "matched_part_count": 2,
    "mean_part_chamfer_l2": 0.308634,
    "mean_part_bbox_iou_proxy": 0.3759,
    "matches": [
      {
        "pred_part": "part_0.ply",
        "gt_part": "new-1.obj",
        "part_chamfer_l2": 0.143138,
        "part_bbox_iou_proxy": 0.7517
      },
      {
        "pred_part": "part_1.ply",
        "gt_part": "original-2.obj",
        "part_chamfer_l2": 0.474129,
        "part_bbox_iou_proxy": 0.0
      }
    ]
  },
  "kinematics": {
    "pred_joint_count": 2,
    "gt_joint_count": 1,
    "joint_count_accuracy": 0.0,
    "joint_type_accuracy": 1.0,
    "axis_mean_error_deg": 89.8418739547688,
    "axis_finite_rate": 1.0,
    "limit_sanity_rate": 1.0,
    "kinematic_tree_valid": true,
    "urdf_parse_success": true,
    "urdf_links": 3,
    "urdf_joints": 2
  },
  "motion_consistency_proxy": 1.0,
  "scores": {
    "geometry_score": 0.6551,
    "part_score": 0.5224,
    "kinematics_score": 0.667,
    "motion_score": 1.0,
    "method_quality_score": 0.7111
  },
  "state_glb": {
    "closed": "assets/TrashCan_10357_TrashCan_10357_synthetic_processed./closed.glb",
    "mid": "assets/TrashCan_10357_TrashCan_10357_synthetic_processed./mid.glb",
    "open": "assets/TrashCan_10357_TrashCan_10357_synthetic_processed./open.glb"
  }
}