HOME CHALLENGES DATASETS TASKS LEADERBOARDS SUBMIT RESULTS Sign in
BOP-Classic: Average on BOP-Classic-Core |   ITODD LM-O YCB-V T-LESS HB IC-BIN TUD-L |   HOPE LM RU-APC IC-MI TYO-L
BOP-H3: Average on BOP-H3 |   HOT3D HANDAL HOPEv2
BOP-Industrial: Average on BOP-Industrial |   IPD XYZ-IBD ITODD-MV
Available tasks:
Model-based tasks on unseen objects: 6D localization 6D detection 2D detection 2D segmentation
Model-based tasks on seen objects: 6D localization 6D detection 2D detection 2D segmentation

Model-based 2D detection of unseen objects – YCB-V

This leaderbord shows the ranking for Model-based 2D detection of unseen objects on YCB-V. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Submission Test image AP AP50 AP75 APS APM APL AR1 AR10 AR100 ARS ARM ARL Time (s)
2025-03-07 anonymity (.) RGB 0.685 0.867 0.786 0.000 0.528 0.750 0.723 0.741 0.741 0.000 0.553 0.817 0.520
2025-08-26 MUSE (muse_full) RGB 0.684 0.865 0.785 0.000 0.527 0.743 0.714 0.730 0.730 0.000 0.549 0.802 0.446
2025-10-03 FOSOD-D (gdino-base-dinov3b-cls-d-gth01) RGB-D 0.680 0.851 0.767 0.000 0.523 0.755 0.731 0.751 0.751 0.000 0.561 0.831 1.103
2025-10-03 FOSOD (gdino-base-dinov3b-cls-gth01) RGB 0.679 0.851 0.767 0.000 0.532 0.752 0.730 0.751 0.751 0.000 0.561 0.830 0.887
2025-11-14 3PT-Detection (Nov 2025) RGB 0.672 0.889 0.814 0.000 0.567 0.714 0.724 0.740 0.740 0.000 0.626 0.775 1.876
2024-09-18 F3DT2D (test01/blenderproc) RGB 0.666 0.849 0.764 0.000 0.513 0.726 0.710 0.714 0.714 0.000 0.538 0.791 0.374
2025-10-01 3PT-Detection (f.k.a IPT) RGB 0.653 0.858 0.800 0.000 0.623 0.690 0.738 0.771 0.771 0.000 0.656 0.821 5.450
2024-05-08 NIDS-Net_WA RGB 0.624 0.836 0.716 0.000 0.493 0.670 0.687 0.697 0.697 0.000 0.525 0.769 0.445
2025-10-01 NeMO-Detect (NeMO) RGB 0.622 0.804 0.744 0.000 0.539 0.684 0.664 0.665 0.665 0.000 0.562 0.730 3.367
2024-05-08 NIDS-Net_WA_Sappe RGB 0.621 0.835 0.712 0.000 0.498 0.669 0.684 0.694 0.694 0.000 0.526 0.766 0.436
2023-12-05 SAM6D-FastSAM RGB-D 0.589 0.810 0.679 0.000 0.454 0.643 0.651 0.660 0.660 0.000 0.488 0.731 0.370
2023-11-23 ViewInvDet RGB 0.581 0.805 0.669 0.000 0.455 0.632 0.638 0.653 0.653 0.000 0.486 0.714 1.388
2024-03-22 SAM6D-FastSAM(RGB) RGB 0.573 0.787 0.661 0.000 0.441 0.629 0.646 0.653 0.653 0.000 0.487 0.724 0.209
2023-08-02 CNOS (FastSAM) (FastSAM) RGB 0.568 0.781 0.656 0.000 0.437 0.623 0.635 0.650 0.650 0.000 0.485 0.720 0.185
2024-05-08 NIDS-Net_basic RGB 0.565 0.754 0.646 0.000 0.461 0.605 0.636 0.644 0.644 0.000 0.489 0.705 0.445
2023-12-05 SAM6D RGB-D 0.518 0.794 0.562 0.000 0.425 0.559 0.591 0.607 0.607 0.000 0.467 0.669 2.821
2023-08-02 CNOS (SAM) (SAM) RGB 0.490 0.760 0.519 0.000 0.417 0.502 0.571 0.580 0.580 0.000 0.443 0.604 1.784
2023-09-17 ZeroPose RGB 0.416 0.692 0.406 0.000 0.322 0.475 0.519 0.549 0.552 0.000 0.414 0.619 3.444

Tip: Hover over the numbers to see more decimal places.

Latest submissions to this leaderboard: