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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-free tasks on unseen objects: 6D detection 2D detection
Model-based tasks on unseen objects: 6D detection 2D detection
Model-based tasks on seen objects: 6D detection 2D detection

Model-free 2D detection of unseen objects – HANDAL

This leaderbord shows the ranking for Model-free 2D detection of unseen objects on HANDAL. 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)
2025-10-01 3PT-Detection (f.k.a IPT) RGB 0.419 0.530 0.481 0.029 0.262 0.440 0.565 0.588 0.588 0.038 0.318 0.644 20.819
2025-09-01 gfreedet2-2d_sam-p RGB 0.397 0.519 0.421 0.000 0.165 0.467 0.499 0.509 0.509 0.000 0.178 0.609 2.645
2025-10-01 CNOS25 (YOLOE-DINOv3) RGB 0.389 0.541 0.418 0.000 0.142 0.460 0.472 0.478 0.478 0.000 0.147 0.576 0.165
2025-09-02 gfreedet2-2d_sam2.1-p RGB 0.373 0.483 0.400 0.000 0.147 0.441 0.466 0.471 0.471 0.000 0.156 0.568 1.998
2025-09-01 gfreedet2-2d_fastsam RGB 0.344 0.450 0.362 0.000 0.131 0.406 0.437 0.445 0.445 0.000 0.146 0.541 0.223
2025-10-01 NOVASplat (FastSAM) (NOVASplatv_handal) RGB 0.309 0.406 0.328 0.000 0.127 0.366 0.410 0.418 0.418 0.000 0.141 0.494 0.258
2025-08-24 CNOS (FastSAM) - Static onboarding (Static_onboarding) RGB 0.304 0.396 0.322 0.000 0.123 0.362 0.407 0.414 0.414 0.000 0.134 0.508 0.388
2025-10-01 NeMO-Detect 3DV2026 (NeMO) RGB 0.273 0.362 0.295 0.000 0.069 0.318 0.391 0.393 0.393 0.000 0.088 0.472 10.030
2024-11-29 GFreeDet-SAM (handal_sam_thre03) RGB 0.264 0.387 0.276 0.003 0.128 0.306 0.398 0.414 0.414 0.003 0.153 0.489 2.229
2024-11-29 GFreeDet-FastSAM (fastsam_test) RGB 0.255 0.346 0.267 0.000 0.106 0.299 0.373 0.388 0.388 0.000 0.127 0.471 0.264
2025-08-24 CNOS (FastSAM) - Dynamic onboarding (Dynamic_onboarding) RGB 0.245 0.330 0.256 0.000 0.102 0.287 0.363 0.373 0.373 0.000 0.117 0.449 0.464

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

Latest submissions to this leaderboard: