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   "frame": "f0408.jpg",
   "iou": {
    "laptop": 0.9764409344513387,
    "cup": 0.8839696924676869,
    "chair_0": 0.9089040181551195,
    "pedestal": 0.8985889404833876
   },
   "sim": {
    "psnr": 22.143184661865234,
    "ssim": 0.8805859088897705,
    "psnr_obj": 22.205280303955078,
    "ssim_obj": 0.8122103810310364
   },
   "full_splat": {
    "psnr": 20.765548706054688,
    "ssim": 0.8851051330566406,
    "psnr_obj": 21.59196662902832,
    "ssim_obj": 0.8337608575820923
   }
  },
  {
   "frame": "f0424.jpg",
   "iou": {
    "laptop": 0.9763874918974497,
    "cup": 0.8770120201305993,
    "chair_0": 0.7737257185200868,
    "pedestal": 0.9318243042556278
   },
   "sim": {
    "psnr": 22.33575439453125,
    "ssim": 0.8772795796394348,
    "psnr_obj": 21.879751205444336,
    "ssim_obj": 0.7879410982131958
   },
   "full_splat": {
    "psnr": 21.78534698486328,
    "ssim": 0.8973026871681213,
    "psnr_obj": 21.934911727905273,
    "ssim_obj": 0.8357002139091492
   }
  },
  {
   "frame": "f0440.jpg",
   "iou": {
    "laptop": 0.9743628860333666,
    "cup": 0.9070952181724214,
    "chair_0": 0.855128399939219,
    "pedestal": 0.9244413048359098
   },
   "sim": {
    "psnr": 22.435707092285156,
    "ssim": 0.8822076916694641,
    "psnr_obj": 22.823570251464844,
    "ssim_obj": 0.8182104229927063
   },
   "full_splat": {
    "psnr": 23.44304656982422,
    "ssim": 0.9112772345542908,
    "psnr_obj": 24.584564208984375,
    "ssim_obj": 0.872559666633606
   }
  },
  {
   "frame": "f0456.jpg",
   "iou": {
    "laptop": 0.9630081869559871,
    "cup": 0.9252834814587803,
    "chair_0": 0.7449200474827177,
    "pedestal": 0.9457667541139996
   },
   "sim": {
    "psnr": 22.114107131958008,
    "ssim": 0.8857278823852539,
    "psnr_obj": 20.610557556152344,
    "ssim_obj": 0.8029788732528687
   },
   "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."
}