Robot manipulation under joint and obstacle constraints on Two-link manipulator (test)
100QP Success RateE2E
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| E2E2026.01 | 100 | -12.04 | 2.3 | 0.0096 | 0.0001 | 0.0253 | 0.198 | 0.702 | 0.021 | — | — | |
| DFBNetslack=02026.01 | 100 | -14.99 | -10.74 | 0.404 | 0.0395 | 0.0405 | 0.326 | 2.53 | 1.62 | — | — | |
| DFBNetslack=10^32026.01 | 100 | -14.84 | -8.08 | 0.386 | 0.0348 | 0 | 0 | 2.29 | 1.71 | — | — | |
| BarrierNetslack=02026.01 | 100 | -9.63 | 2.23 | 0.0133 | 0.0001 | 0.0329 | 0.251 | 0.672 | 1.59 | — | — | |
| BarrierNetslack=10^32026.01 | 100 | -4.07 | 2.21 | 0.0121 | 0.0001 | 0 | 0 | 0.41 | 1.6 | — | — | |
| PoSafeNetvariant=Mixture2026.01 | 100 | 0.199 | 2.44 | 0.0091 | 0.0001 | 0 | 0 | 0.361 | 0.173 | — | — | |
| PoSafeNetvariant=Hard2026.01 | 100 | 0.018 | 1.38 | 0.0104 | 0.0001 | 0 | 0 | 0.527 | 0.095 | — | — | |
| ABNetslack=10^32026.01 | 84 | 31.03 | 62.05 | 4.2 | 148 | 0.167 | 0.837 | 9.48 | 0.544 | — | — | |
| ABNetslack=02026.01 | 76 | -14.35 | 43.13 | 146,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000 | 1,600,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000 | 0.417 | 0.838 | — | 0.55 | — | — |