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TontonTremblay/
hope_pose_all_objects

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HOPE Dataset — doper2 Pose Estimation (All 28 Objects)

Trained on train_pbr synthetic BOP data (~30k frames/object), evaluated on val. Backbone: ResNet-34, 64 SimCC keypoints, 640px detection, 256px crop, 100 epochs, fp32.

Val Metrics Summary

Obj	Det rate	PnP rate	ADD AUC	ADDS AUC	MSSD AUC	MSPD AUC	AR MSSD @20%	AR MSPD @40px	ADD mean (mm)	ADDS mean (mm)	Diameter (mm)
01	0.82	0.84	0.152	0.289	0.115	0.574	0.500	0.711	82.44	66.85	107.9
02	0.87	1.00	0.190	0.345	0.143	0.631	0.622	0.778	80.32	55.03	153.9
03	0.91	1.00	0.116	0.188	0.090	0.633	0.333	0.756	90.64	69.80	115.0
04	1.00	1.00	0.189	0.298	0.106	0.708	0.400	1.000	19.43	9.61	89.6
05	1.00	1.00	0.156	0.295	0.102	0.803	0.467	1.000	17.43	8.68	98.0
06	0.88	0.88	0.139	0.450	0.082	0.670	0.773	0.955	26.55	11.73	208.7
07	0.75	0.88	0.128	0.260	0.084	0.568	0.400	0.771	37.58	20.48	89.6
08	0.88	1.00	0.019	0.129	0.001	0.478	0.280	0.560	104.19	78.26	115.6
09	0.60	0.60	0.354	0.638	0.278	0.819	1.000	1.000	14.03	7.45	206.0
10	0.77	0.83	0.110	0.361	0.054	0.636	0.655	0.828	53.44	40.18	89.7
11	0.82	0.95	0.088	0.218	0.060	0.545	0.421	0.711	56.21	34.56	153.9
12	0.66	0.72	0.225	0.444	0.166	0.452	0.611	0.611	72.15	40.99	207.1
13	0.80	0.83	0.162	0.280	0.132	0.630	0.480	0.800	105.24	86.15	153.4
14	0.60	0.60	0.544	0.762	0.424	0.810	1.000	1.000	9.39	4.87	204.5
15	0.74	1.00	0.078	0.268	0.040	0.459	0.429	0.571	72.14	52.48	75.7
16	0.92	0.96	0.137	0.300	0.102	0.681	0.583	0.875	65.42	50.82	161.5
17	0.72	0.92	0.320	0.576	0.245	0.447	0.609	0.609	60.07	20.01	205.7
18	0.87	0.87	0.333	0.604	0.236	0.788	0.923	1.000	10.17	4.95	122.8
19	0.95	1.00	0.169	0.370	0.102	0.636	0.600	0.750	141.81	129.62	89.2
20	0.90	0.93	0.189	0.384	0.121	0.563	0.536	0.821	64.87	55.39	89.9
21	0.87	0.89	0.155	0.352	0.091	0.655	0.490	0.898	24.07	12.70	89.2
22	1.00	1.00	0.191	0.459	0.119	0.764	0.800	1.000	20.13	9.41	152.4
23	0.62	0.75	0.316	0.483	0.233	0.639	0.700	0.800	35.45	20.77	151.3
24	1.00	1.00	0.074	0.322	0.000	0.645	0.600	1.000	22.35	11.69	151.3
25	0.97	0.97	0.081	0.218	0.012	0.560	0.412	0.882	50.63	31.71	252.8
26	0.86	1.00	0.030	0.145	0.014	0.469	0.314	0.571	54.77	32.80	107.1
27	0.77	0.94	0.125	0.280	0.059	0.470	0.364	0.667	103.80	89.31	76.1
28	1.00	1.00	0.150	0.472	0.082	0.722	0.650	1.000	14.65	6.36	82.9

Per-Object Visualizations

Object 01

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Object 02

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Object 08

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Object 11

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Object 14

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Object 15

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Object 16

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Object 17

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Object 19

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Object 20

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Object 21

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Object 22

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Object 23

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Object 24

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Object 25

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Object 26

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Object 27

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Object 28

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TontonTremblay/hope_pose_all_objects