Contact State Detection on Mini-Cheetah real-world
93.6F1 (Leg LF)MS-HGNN
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MS-HGNNNumber of Parameters=2,144,642, Symmetry=K42024.12 | 93.6 | 94.4 | 93 | 94.8 | 87.5 | 93.9 | |
| MI-HGNNNumber of Parameters=1,585,282, Symmetry=S42024.12 | 93.2 | 93.6 | 92.7 | 92.8 | 87 | 93.1 | |
| MS-HGNNNumber of Parameters=2,407,810, Symmetry=C22024.12 | 92.8 | 93.3 | 91.3 | 93.7 | 85.6 | 92.9 | |
| ECNNNumber of Parameters=5,614,770, Symmetry=C22024.12 | 88.4 | 88.7 | 85.3 | 86 | 78.8 | 87.1 | |
| CNN-AugNumber of Parameters=10,855,440, Symmetry=C22024.12 | 85.4 | 89.6 | 83.5 | 90.6 | 77.8 | 87.3 | |
| CNNNumber of Parameters=10,855,440, Symmetry=-2024.12 | 77.1 | 89.9 | 88.4 | 89.1 | 73.1 | 86.1 |