README.md

# HOPE Dataset — doper2 Pose Estimation (All 28 Objects)

Trained on `train_pbr` synthetic BOP data (~30k frames/object), evaluated on `val`.
Backbone: ResNet-34, 64 SimCC keypoints, 640px detection, 256px crop, 100 epochs, fp32.

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## Val Metrics Summary

| Obj | Det rate | PnP rate | ADD AUC | ADDS AUC | MSSD AUC | MSPD AUC | AR MSSD @20% | AR MSPD @40px | ADD mean (mm) | ADDS mean (mm) | Diameter (mm) |
|-----|----------|----------|---------|----------|----------|----------|--------------|---------------|---------------|----------------|---------------|
| 01 | 0.82 | 0.84 | 0.152 | 0.289 | 0.115 | 0.574 | 0.500 | 0.711 | 82.44 | 66.85 | 107.9 |
| 02 | 0.87 | 1.00 | 0.190 | 0.345 | 0.143 | 0.631 | 0.622 | 0.778 | 80.32 | 55.03 | 153.9 |
| 03 | 0.91 | 1.00 | 0.116 | 0.188 | 0.090 | 0.633 | 0.333 | 0.756 | 90.64 | 69.80 | 115.0 |
| 04 | 1.00 | 1.00 | 0.189 | 0.298 | 0.106 | 0.708 | 0.400 | 1.000 | 19.43 | 9.61 | 89.6 |
| 05 | 1.00 | 1.00 | 0.156 | 0.295 | 0.102 | 0.803 | 0.467 | 1.000 | 17.43 | 8.68 | 98.0 |
| 06 | 0.88 | 0.88 | 0.139 | 0.450 | 0.082 | 0.670 | 0.773 | 0.955 | 26.55 | 11.73 | 208.7 |
| 07 | 0.75 | 0.88 | 0.128 | 0.260 | 0.084 | 0.568 | 0.400 | 0.771 | 37.58 | 20.48 | 89.6 |
| 08 | 0.88 | 1.00 | 0.019 | 0.129 | 0.001 | 0.478 | 0.280 | 0.560 | 104.19 | 78.26 | 115.6 |
| 09 | 0.60 | 0.60 | 0.354 | 0.638 | 0.278 | 0.819 | 1.000 | 1.000 | 14.03 | 7.45 | 206.0 |
| 10 | 0.77 | 0.83 | 0.110 | 0.361 | 0.054 | 0.636 | 0.655 | 0.828 | 53.44 | 40.18 | 89.7 |
| 11 | 0.82 | 0.95 | 0.088 | 0.218 | 0.060 | 0.545 | 0.421 | 0.711 | 56.21 | 34.56 | 153.9 |
| 12 | 0.66 | 0.72 | 0.225 | 0.444 | 0.166 | 0.452 | 0.611 | 0.611 | 72.15 | 40.99 | 207.1 |
| 13 | 0.80 | 0.83 | 0.162 | 0.280 | 0.132 | 0.630 | 0.480 | 0.800 | 105.24 | 86.15 | 153.4 |
| 14 | 0.60 | 0.60 | 0.544 | 0.762 | 0.424 | 0.810 | 1.000 | 1.000 | 9.39 | 4.87 | 204.5 |
| 15 | 0.74 | 1.00 | 0.078 | 0.268 | 0.040 | 0.459 | 0.429 | 0.571 | 72.14 | 52.48 | 75.7 |
| 16 | 0.92 | 0.96 | 0.137 | 0.300 | 0.102 | 0.681 | 0.583 | 0.875 | 65.42 | 50.82 | 161.5 |
| 17 | 0.72 | 0.92 | 0.320 | 0.576 | 0.245 | 0.447 | 0.609 | 0.609 | 60.07 | 20.01 | 205.7 |
| 18 | 0.87 | 0.87 | 0.333 | 0.604 | 0.236 | 0.788 | 0.923 | 1.000 | 10.17 | 4.95 | 122.8 |
| 19 | 0.95 | 1.00 | 0.169 | 0.370 | 0.102 | 0.636 | 0.600 | 0.750 | 141.81 | 129.62 | 89.2 |
| 20 | 0.90 | 0.93 | 0.189 | 0.384 | 0.121 | 0.563 | 0.536 | 0.821 | 64.87 | 55.39 | 89.9 |
| 21 | 0.87 | 0.89 | 0.155 | 0.352 | 0.091 | 0.655 | 0.490 | 0.898 | 24.07 | 12.70 | 89.2 |
| 22 | 1.00 | 1.00 | 0.191 | 0.459 | 0.119 | 0.764 | 0.800 | 1.000 | 20.13 | 9.41 | 152.4 |
| 23 | 0.62 | 0.75 | 0.316 | 0.483 | 0.233 | 0.639 | 0.700 | 0.800 | 35.45 | 20.77 | 151.3 |
| 24 | 1.00 | 1.00 | 0.074 | 0.322 | 0.000 | 0.645 | 0.600 | 1.000 | 22.35 | 11.69 | 151.3 |
| 25 | 0.97 | 0.97 | 0.081 | 0.218 | 0.012 | 0.560 | 0.412 | 0.882 | 50.63 | 31.71 | 252.8 |
| 26 | 0.86 | 1.00 | 0.030 | 0.145 | 0.014 | 0.469 | 0.314 | 0.571 | 54.77 | 32.80 | 107.1 |
| 27 | 0.77 | 0.94 | 0.125 | 0.280 | 0.059 | 0.470 | 0.364 | 0.667 | 103.80 | 89.31 | 76.1 |
| 28 | 1.00 | 1.00 | 0.150 | 0.472 | 0.082 | 0.722 | 0.650 | 1.000 | 14.65 | 6.36 | 82.9 |

---

## Per-Object Visualizations

### Object 01
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_01/val_grid.jpg) | ![train](obj_01/train_grid.jpg) |

### Object 02
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_02/val_grid.jpg) | ![train](obj_02/train_grid.jpg) |

### Object 03
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_03/val_grid.jpg) | ![train](obj_03/train_grid.jpg) |

### Object 04
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_04/val_grid.jpg) | ![train](obj_04/train_grid.jpg) |

### Object 05
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_05/val_grid.jpg) | ![train](obj_05/train_grid.jpg) |

### Object 06
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_06/val_grid.jpg) | ![train](obj_06/train_grid.jpg) |

### Object 07
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_07/val_grid.jpg) | ![train](obj_07/train_grid.jpg) |

### Object 08
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_08/val_grid.jpg) | ![train](obj_08/train_grid.jpg) |

### Object 09
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_09/val_grid.jpg) | ![train](obj_09/train_grid.jpg) |

### Object 10
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_10/val_grid.jpg) | ![train](obj_10/train_grid.jpg) |

### Object 11
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_11/val_grid.jpg) | ![train](obj_11/train_grid.jpg) |

### Object 12
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_12/val_grid.jpg) | ![train](obj_12/train_grid.jpg) |

### Object 13
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_13/val_grid.jpg) | ![train](obj_13/train_grid.jpg) |

### Object 14
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_14/val_grid.jpg) | ![train](obj_14/train_grid.jpg) |

### Object 15
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_15/val_grid.jpg) | ![train](obj_15/train_grid.jpg) |

### Object 16
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_16/val_grid.jpg) | ![train](obj_16/train_grid.jpg) |

### Object 17
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_17/val_grid.jpg) | ![train](obj_17/train_grid.jpg) |

### Object 18
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_18/val_grid.jpg) | ![train](obj_18/train_grid.jpg) |

### Object 19
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_19/val_grid.jpg) | ![train](obj_19/train_grid.jpg) |

### Object 20
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_20/val_grid.jpg) | ![train](obj_20/train_grid.jpg) |

### Object 21
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_21/val_grid.jpg) | ![train](obj_21/train_grid.jpg) |

### Object 22
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_22/val_grid.jpg) | ![train](obj_22/train_grid.jpg) |

### Object 23
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_23/val_grid.jpg) | ![train](obj_23/train_grid.jpg) |

### Object 24
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_24/val_grid.jpg) | ![train](obj_24/train_grid.jpg) |

### Object 25
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_25/val_grid.jpg) | ![train](obj_25/train_grid.jpg) |

### Object 26
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_26/val_grid.jpg) | ![train](obj_26/train_grid.jpg) |

### Object 27
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_27/val_grid.jpg) | ![train](obj_27/train_grid.jpg) |

### Object 28
| Val 3x3 | Train 3x3 |
|---------|----------|
| ![val](obj_28/val_grid.jpg) | ![train](obj_28/train_grid.jpg) |