## 5 Experiments
### Ablation Study (Effect of Model Variants)
\begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline
**Method** & \begin{tabular}{c} **Rank-** \\ **1/\%** \\ \end{tabular} & \begin{tabular}{c} **Rank-** \\ **5/\%** \\ \end{tabular} & \begin{tabular}{c} **Rank-** \\ **10/\%** \\ \end{tabular} & \begin{tabular}{c} **Rank-** \\ **15\%** \\ \end{tabular} & \
\begin{tabular}{c} **Average/\%** \\ \end{tabular} &
\begin{tabular}{c} **Params/M** \\ **T/S** \\ \end{tabular} \\ \hline (1) VR-S & 31.20 & 48.54 & 65.02 & 71.16 & 53.98 & 215.23 & 32.41 \\ (2) VR-B & 32.85 & 50.71 & 68.40 & 73.52 & 56.37 & 216.88 & 35.08 \\ (3) VR-L & 34.93 & 55.13 & 75.12 & 82.25 & 61.86 & 217.94 & 50.37 \\ (4) VR-L and R4 & 35.21 & 56.31 & 76.57 & 83.94 & 63.01 & 220.47 & 52.31 \\ (_normal contact_) & & & & & & \\ (5) VR-L and R5 & 36.78 & 57.42 & 77.23 & 84.65 & 64.02 & 223.92 & 54.72 \\ (_normal contact_) & & & & & & \\ (6) VR-L and R6 & 38.04 & 58.89 & 79.84 & 86.78 & 65.89 & 339.47 & 61.93 \\ (_normal contact_) & & & & & & \\ (7) VR-L and R6 and Bm & 38.62 & 59.54 & 81.12 & 87.40 & 66.67 & 442.13 & 64.87 \\ (_normal contact_) & & & & & & \\ (8) VR-L and R6 and Bb & 40.01 & 61.38 & 82.97 & 90.36 & 68.68 & 446.82 & 67.11 \\ (_normal contact_) & & & & & & \\ (9) R6 and Bb & 17.83 & 27.74 & 30.16 & 37.85 & 28.39 & 134.27 & 18.52 \\ (_total contact_) & & & & & & \\ (10) R6 and Bb & 18.51 & 28.66 & 38.85 & 42.23 & 32.07 & 165.18 & 30.13 \\ (_Static Averaging_) & & & & & & \\ (11) VR-L and Bb & 37.12 & 56.95 & 76.98 & 83.83 & 63.72 & 414.55 & 62.26 \\ (_normal contact_) & & & & & & \\ (12) VR-L and Bb & 38.27 & 58.71 & 79.36 & 86.43 & 65.68 & 427.39 & 64.19 \\ (_Static Averaging_) & 41.72 & 64.32 & 83.63 & 90.42 & 69.52 & 439.12 & 65.28 \\ (14) VR-L and R6 and Bb & 46.71 & 67.84 & 87.26 & 94.73 & 74.13 & 467.76 & 67.54 \\ _-ours_ & & & & & & \\ \hline (1) VR-S & 25.20 & 43.14 & 59.92 & 62.41 & 47.67 & 215.23 & 187.65 \\ (2) VR-B & 27.05 & 45.49 & 63.47 & 69.17 & 51.30 & 216.88 & 204.91 \\ (3) VR-L & 29.43 & 50.18 & 70.44 & 78.12 & 57.04 & 217.94 & 292.56 \\ (4) VR-L and R4 & 30.01 & 51.63 & 72.15 & 80.04 & 58.46 & 220.47 & 303.26 \\ (_normal contact_) & & & & & & \\ (5) VR-L and R5 & 31.78 & 52.92 & 72.98 & 80.90 & 59.65 & 223.92 & 315.45 \\ (_normal contact_) & & & & & & \\ (6) VR-L and R6 & 33.34 & 54.66 & 75.84 & 83.25 & 61.77 & 339.47 & 357.19 \\ (_normal contact_) & & & & & & \\ (7) VR-L and R6 and Bm & 34.12 & 55.49 & 77.29 & 84.02 & 62.73 & 442.13 & 373.82 \\ (_normal contact_) & & & & & & \\ (8) VR-L and Bb & 35.71 & 57.51 & 79.31 & 85.13 & 64.42 & 446.82 & 390.02 \\ Test Set 2 & (_normal contact_) & & & & & \\ (9) R6 and Bb & 9.52 & 14.81 & 16.10 & 20.21 & 15.16 & 134.27 & 106.58 \\ (_total contact_) & & & & & & \\ (10) R6 and Bb & 10.74 & 16.63 & 22.54 & 24.51 & 18.61 & 165.18 & 173.14 \\ (_Total Average_) & & & & & & \\ (11) VR-L and Bb & 27.24 & 41.49 & 56.49 & 61.52 & 46.69 & 414.55 & 357.72 \\ (12) VR-L and Bb & 29.61 & 45.42 & 61.40 & 66.87 & 50.83 & 427.39 & 369.26 \\ (_Total Average_) & & & & & & & \\ (13) VR-L and R6 and Bb & 36.17 & 58.76 & 80.66 & 85.96 & 65.38 & 439.12 & 375.04 \\ (_Total Average_) & & & & & & & \\ (14) VR-L and R6 and Bb & 42.83 & 62.16 & 83.21 & 87.33 & 68.88 & 467.76 & 391.40 \\ _-ours_ & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Model architecture and parameter comparison. “Average” denotes the mean matching accuracy of the model across Rank-1 to Rank-15 (in percentage). “Params/M” refers to the total number of model parameters, measured in millions. “TD/S” indicates the inference time (in seconds) required by the model on the designated test set.