ResearchBenchmarksDual-Arm Tracking on SurgPose FastDual-Arm Tracking on SurgPose FastFollow21.68Inference Time (ms)CMA-ES20.246429.923239.649.2768Mar 12, 2026Evaluation resultsMethodMethodLinksInference Time (ms)Mask Error (1-IoU)KP Error (px)CMA-ESJoint=True, Iters=3Joint=True, Iters=32026.0321.6812.687.1138CMA-ESJoint=False, Iters=3Joint=False, Iters=32026.0321.6916.258.121GDJoint=False, Iters=10Joint=False, Iters=102026.0357.4627.399.743GDJoint=True, Iters=10Joint=True, Iters=102026.0357.5219.149.3923