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| Method | Quality | Fidelity | Alignment Success | |
| PnP | | 2.16 ±1.13 3.78 ±0.99 | 3.39 ±1.38 | 20% |
| TaVid | | 1.99 ±0.92 3.29 ±1.21 | 2.69 ±1.55 | 13% |
| Ours | 3.58±1.043.55 ±1.093.79 ±1.33 | | | 76% |
| Uncond. 3.43 ±1.09 2.49±1.12 4.28 ±1.02 | | | 45% |
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| Ours | 3.58±1.043.55 ±1.093.79 ±1.33 | | | 76% |
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| Fidelity | See user study (Tab.1) for evaluation | |
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| Fidelity | See user study (Tab.1) for evaluation | |
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