Single-Arm Tracking on SurgPose Fast
13.63Time (ms)CMA-ES (OpenCV kpt.)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| CMA-ES (OpenCV kpt.)Joint=False, Iters=32026.03 | 13.63 | 14.84 | 12.5161 | |
| XNESJoint=False, Iters=32026.03 | 15.45 | 14.17 | 7.5942 | |
| CMA-ES (w/o kpt. loss)Joint=False, Iters=32026.03 | 15.77 | 10.2 | 24.5069 | |
| CMA-ES (Ours)Joint=True, Iters=32026.03 | 15.85 | 10.66 | 7.3529 | |
| CMA-ES (Ours)Joint=False, Iters=32026.03 | 15.93 | 11.07 | 6.997 | |
| CMA-ES (Ours)Joint=False, Iters=52026.03 | 23.9 | 9.31 | 6.3607 | |
| CMA-ES (Online)Joint=True, Iters=32026.03 | 25.15 | 10.04 | 7.1115 | |
| GD (NvDiffRast)Joint=False, Iters=102026.03 | 42.4 | 26.5 | 8.5244 | |
| GD (NvDiffRast)Joint=True, Iters=102026.03 | 42.51 | 20.52 | 10.2803 | |
| GD (NvDiffRast)Joint=False, Iters=202026.03 | 79.53 | 26.92 | 9.2774 | |
| GD (PyTorch3D)Joint=False, Iters=102026.03 | 98.59 | 23.06 | 8.8919 |