Intrinsic Dimension Estimation on Franka manipulator joint-space solution manifold
4.2Local MLE (NN=2)Conditional Diffusion Model for Constrained IK
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Conditional Diffusion Model for Constrained IKConstraint=PLANE, Analytical Intrinsic Dimension (ID)=62026.06 | 4.2 | 4.2 | 4 | 6 | 3.4 | 6 | 6 | |
| Conditional Diffusion Model for Constrained IKConstraint=LINE, Analytical Intrinsic Dimension (ID)=52026.06 | 4.2 | 3.7 | 4 | 5 | 5.3 | 5 | 5 | |
| Conditional Diffusion Model for Constrained IKConstraint=SE(3), Analytical Intrinsic Dimension (ID)=12026.06 | 3.7 | 2.2 | 2 | 5 | 5.1 | 1 | 1 | |
| Conditional Diffusion Model for Constrained IKConstraint=POSITION, Analytical Intrinsic Dimension (ID)=42026.06 | 3.6 | 3.2 | 3 | 4 | 5 | 4 | 4 | |
| Conditional Diffusion Model for Constrained IKConstraint=ORIENTATION, Analytical Intrinsic Dimension (ID)=42026.06 | 3.6 | 3.2 | 3 | 4 | 5 | 4 | 4 | |
| Conditional Diffusion Model for Constrained IKConstraint=PLANE + ORIENTATION, Analytical Intrinsic Dimension (ID)=32026.06 | 2.9 | 2.5 | 3 | 4 | 4 | 3 | 3 | |
| Conditional Diffusion Model for Constrained IKConstraint=LINE + ORIENTATION, Analytical Intrinsic Dimension (ID)=32026.06 | 2.9 | 2.6 | 3 | 4 | 4 | 3 | 3 |