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   "iou": {
    "laptop": 0.9413850770887265,
    "cup": 0.7742558326629123,
    "chair_0": 0.8859030895695387,
    "pedestal": 0.7719690379978199
   },
   "sim": {
    "psnr": 18.52896499633789,
    "ssim": 0.8366757035255432,
    "psnr_obj": 16.501649856567383,
    "ssim_obj": 0.7240896224975586
   },
   "full_splat": {
    "psnr": 20.765548706054688,
    "ssim": 0.8851051330566406,
    "psnr_obj": 21.59196662902832,
    "ssim_obj": 0.8337608575820923
   }
  },
  {
   "frame": "f0424.jpg",
   "iou": {
    "laptop": 0.9444116301688036,
    "cup": 0.7892749931774766,
    "chair_0": 0.7311354019746121,
    "pedestal": 0.8324428623283004
   },
   "sim": {
    "psnr": 18.18281364440918,
    "ssim": 0.8417320251464844,
    "psnr_obj": 15.393142700195312,
    "ssim_obj": 0.7105773091316223
   },
   "full_splat": {
    "psnr": 21.78534698486328,
    "ssim": 0.8973026871681213,
    "psnr_obj": 21.934911727905273,
    "ssim_obj": 0.8357002139091492
   }
  },
  {
   "frame": "f0440.jpg",
   "iou": {
    "laptop": 0.9299431245304173,
    "cup": 0.7971052018331996,
    "chair_0": 0.7867493640495041,
    "pedestal": 0.8341701870257351
   },
   "sim": {
    "psnr": 19.45242691040039,
    "ssim": 0.8650833964347839,
    "psnr_obj": 17.837223052978516,
    "ssim_obj": 0.7916976809501648
   },
   "full_splat": {
    "psnr": 23.44304656982422,
    "ssim": 0.9112772345542908,
    "psnr_obj": 24.584564208984375,
    "ssim_obj": 0.872559666633606
   }
  },
  {
   "frame": "f0456.jpg",
   "iou": {
    "laptop": 0.8926969200241567,
    "cup": 0.7735338535112006,
    "chair_0": 0.6942947147357368,
    "pedestal": 0.8585320348828992
   },
   "sim": {
    "psnr": 20.325040817260742,
    "ssim": 0.8642768263816833,
    "psnr_obj": 18.026227951049805,
    "ssim_obj": 0.7678663730621338
   },
   "full_splat": {
    "psnr": 21.982349395751953,
    "ssim": 0.8952987790107727,
    "psnr_obj": 20.647001266479492,
    "ssim_obj": 0.8250987529754639
   }
  }
 ],
 "method": "Geometry: MuJoCo segmentation of the simulator's visual meshes (objects + pedestal, depth-ordered) at the\ncaptured state, from every held-out camera, vs the SAM2 instance masks: per-object visible-silhouette IoU.\nPixels of instances that are not simulated (cable, the partially seen third chair) are don't-care unless\nthey belong to the object's own mask.\nAppearance: the photoreal simulator render (SplatScene: clean background + per-link Gaussians in MuJoCo\nbody frames + mesh hole filling) vs the photo, full frame and inside the object masks: PSNR / SSIM.\nReference: the same metrics for the full-scene splat (no simulation, no object separation), i.e. how much\nthe real-to-sim conversion costs."
}