Single-Arm Tracking on SurgPose Normal
13.63Latency (ms)CMA-ES (OpenCV kpt.)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| CMA-ES (OpenCV kpt.)Joint=False, Iters=32026.03 | 13.63 | 9.98 | 9.9159 | |
| XNESJoint=False, Iters=32026.03 | 15.45 | 9.13 | 6.7764 | |
| CMA-ES (w/o kpt. loss)Joint=False, Iters=32026.03 | 15.77 | 7.27 | 14.9398 | |
| CMA-ES (Ours)Joint=True, Iters=32026.03 | 15.85 | 7.57 | 6.1491 | |
| CMA-ES (Ours)Joint=False, Iters=32026.03 | 15.93 | 7.29 | 5.721 | |
| CMA-ES (Ours)Joint=False, Iters=52026.03 | 23.9 | 6.74 | 5.1007 | |
| CMA-ES (Online)Joint=True, Iters=32026.03 | 25.15 | 6.62 | 6.0133 | |
| GD (NvDiffRast)Joint=False, Iters=102026.03 | 42.4 | 14.32 | 8.8057 | |
| GD (NvDiffRast)Joint=True, Iters=102026.03 | 42.51 | 9.75 | 7.2869 | |
| GD (NvDiffRast)Joint=False, Iters=202026.03 | 79.53 | 9.93 | 7.9207 | |
| GD (PyTorch3D)Joint=False, Iters=102026.03 | 98.59 | 14.45 | 8.4748 |