Motion Planning on MπNet (test)
7Plan Time (ms)IK cuRobo + CAMPD
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| IK cuRobo + CAMPDNbatch=12, Sampler=DDPM, w=12025.10 | 7 | 90.7 | 26.1 | 1.38 | 0.004 | 0.005 | |
| IK cuRobo + CAMPDNbatch=12, Sampler=DPMSolver++, w=12025.10 | 8 | 86.9 | 25.9 | 1.36 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=12, Sampler=DPMSolver++, w=22025.10 | 8 | 87.6 | 29.1 | 1.37 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=12, Sampler=DPMSolver++, w=52025.10 | 8 | 78.9 | 41.6 | 1.47 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=64, Sampler=DDPM, w=12025.10 | 8 | 98.3 | 37.1 | 1.13 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=64, Sampler=DPMSolver++, w=12025.10 | 8 | 96.2 | 37.2 | 1.14 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=64, Sampler=DPMSolver++, w=22025.10 | 8 | 97.2 | 42 | 1.14 | 0.003 | 0.004 | |
| IK cuRobo + CAMPDNbatch=64, Sampler=DPMSolver++, w=52025.10 | 8 | 93.3 | 75.6 | 1.22 | 0.003 | 0.004 | |
| DiffusionSeederNbatch=12, Niters=252025.10 | 15 | 85.1 | 108.8 | 1.26 | 0.98 | 0.93 | |
| DiffusionSeederNbatch=12, Niters=502025.10 | 17 | 85.8 | 103.6 | 1.26 | 0.95 | 1.44 | |
| cuRoboNbatch=122025.10 | 26 | 92 | 36.5 | 1.12 | 0.6 | 0.13 | |
| cuRoboNbatch=642025.10 | 111 | 93.8 | 62.2 | 1.01 | 0.87 | 0.16 |