ResearchBenchmarksDual-Arm Tracking on SurgPose NormalDual-Arm Tracking on SurgPose NormalFollow21.68Latency (ms)CMA-ES20.246429.923239.649.2768Mar 12, 2026Evaluation resultsMethodMethodLinksLatency (ms)Mask Error (1-IoU)KP Error (px)CMA-ESJoint=True, Iters=3Joint=True, Iters=32026.0321.688.326.0193CMA-ESJoint=False, Iters=3Joint=False, Iters=32026.0321.6910.046.8037GDJoint=False, Iters=10Joint=False, Iters=102026.0357.4615.4510.4062GDJoint=True, Iters=10Joint=True, Iters=102026.0357.529.246.8002