{
 "what": "Held-out silhouette IoU per object per method. 'iou' = computed here for every method on the same held-out frames (every 8th, eval_final frame list, mask label errors excluded), union-of-triangles silhouette vs SAM2 mask, other instances don't-care, no inter-object occlusion. 'reported' = numbers from earlier pipeline reports, cited by file.",
 "script": "compare_methods.py",
 "objects": {
  "laptop": {
   "frames": 25,
   "shown_frames": [
    "f0056.jpg",
    "f0377.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.9748,
     "reported": {
      "iou": 0.9783,
      "surface_err_mm_median": 4.7,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.8901,
     "reported": {
      "iou": 0.9221,
      "surface_err_mm_median": 4.5,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "AgentSTAR": {
     "iou": 0.9765,
     "note": "raw AgentSTAR part model (mesh/object.glb) at the reference-frame pose + captured lid opening"
    },
    "Simulator (final)": {
     "iou": 0.9789,
     "reported": {
      "iou": 0.961,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    }
   },
   "sim_uses": "AgentSTAR part model (dimensions, pose, hinge) as boxes in the sim",
   "reason": "best IoU with an articulated, watertight, clean shape; SDF/TSDF are a single fused blob with no hinge"
  },
  "cup": {
   "frames": 29,
   "shown_frames": [
    "f0440.jpg",
    "f0072.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.9431,
     "reported": {
      "iou": 0.9632,
      "surface_err_mm_median": 6.9,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.945,
     "reported": {
      "iou": 0.939,
      "surface_err_mm_median": 2.9,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "Simulator (final)": {
     "iou": 0.9429,
     "reported": {
      "iou": 0.8811,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    },
    "Part model": {
     "iou": 0.9378,
     "note": "AgentSTAR-style parametric part model (real2sim/part_models.py), multi-view silhouette fit (fit_parts / fit_parts_joint; the two chairs share one shape)"
    }
   },
   "sim_uses": "revolve fit (fit_revolve)",
   "reason": "SDF/TSDF tie on IoU but are lumpy and open on the unseen side; a revolved profile is complete and symmetric"
  },
  "pedestal": {
   "frames": 29,
   "shown_frames": [
    "f0232.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.9347,
     "reported": {
      "iou": 0.9504,
      "surface_err_mm_median": 7.7,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.9667,
     "reported": {
      "iou": 0.9762,
      "surface_err_mm_median": 5.4,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "Simulator (final)": {
     "iou": 0.9447,
     "reported": {
      "iou": 0.8763,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    }
   },
   "sim_uses": "gravity-aligned box (fit_box)",
   "reason": "TSDF is slightly higher on IoU but is open/holed on unseen faces; the box is exact for a cuboid table"
  },
  "chair_0": {
   "frames": 29,
   "shown_frames": [
    "f0120.jpg",
    "f0360.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.909,
     "reported": {
      "iou": 0.9176,
      "surface_err_mm_median": 16.2,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.9444,
     "reported": {
      "iou": 0.9578,
      "surface_err_mm_median": 8.4,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "Hunyuan3D generated": {
     "iou": 0.8361,
     "reported": {
      "iou": 0.8573,
      "surface_err_mm_median": 54.7,
      "source": "gs_sim/generative_registration.json (before refit)"
     }
    },
    "Simulator (final)": {
     "iou": 0.8488,
     "reported": {
      "iou": 0.8396,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    },
    "Part model": {
     "iou": 0.8332,
     "note": "AgentSTAR-style parametric part model (real2sim/part_models.py), multi-view silhouette fit (fit_parts / fit_parts_joint; the two chairs share one shape)"
    }
   },
   "sim_uses": "part model collision (shell, cushion, column, 4-prong base) + swivel; scan mesh/splat in the Scan view",
   "reason": "SDF/TSDF score higher on outlines but have no star base and slab-filled backs; generated mesh is complete"
  },
  "chair_1": {
   "frames": 20,
   "shown_frames": [
    "f0136.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.7871,
     "reported": {
      "iou": 0.8215,
      "surface_err_mm_median": 11.1,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.8194,
     "reported": {
      "iou": 0.7841,
      "surface_err_mm_median": 255.4,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "Hunyuan3D generated": {
     "iou": 0.6587,
     "reported": {
      "iou": 0.6457,
      "surface_err_mm_median": 70.5,
      "source": "gs_sim/generative_registration.json (before refit)"
     }
    },
    "Simulator (final)": {
     "iou": 0.6803,
     "reported": {
      "iou": 0.6782,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    },
    "Part model": {
     "iou": 0.7647,
     "note": "AgentSTAR-style parametric part model (real2sim/part_models.py), multi-view silhouette fit (fit_parts / fit_parts_joint; the two chairs share one shape)"
    }
   },
   "sim_uses": "part model collision (shell, cushion, column, 4-prong base) + swivel; scan mesh/splat in the Scan view",
   "reason": "same as chair_0; generated shape is the wrong model so IoU is low"
  },
  "backpack": {
   "frames": 20,
   "shown_frames": [
    "f0297.jpg"
   ],
   "methods": {
    "NeuralFeels-style SDF": {
     "iou": 0.7873,
     "reported": {
      "iou": 0.7794,
      "surface_err_mm_median": 11.4,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "TSDF fusion": {
     "iou": 0.9051,
     "reported": {
      "iou": 0.7893,
      "surface_err_mm_median": 6.7,
      "source": "gs_sim/objects_score_splat.json"
     }
    },
    "Hunyuan3D generated": {
     "iou": 0.8302,
     "reported": {
      "iou": 0.7304,
      "surface_err_mm_median": 45.7,
      "source": "gs_sim/generative_registration.json (before refit)"
     }
    },
    "Simulator (final)": {
     "iou": 0.8494,
     "reported": {
      "iou": 0.8136,
      "source": "gs_sim/sim/eval_final.json (MuJoCo segmentation, depth-ordered occlusion)"
     }
    },
    "Part model": {
     "iou": 0.8585,
     "note": "AgentSTAR-style parametric part model (real2sim/part_models.py), multi-view silhouette fit (fit_parts / fit_parts_joint; the two chairs share one shape)"
    }
   },
   "sim_uses": "part model collision; scan mesh/splat in the Scan view",
   "reason": "TSDF scores highest on outlines but is an open, shredded shell; generated mesh is closed and clean"
  }
 }
}