Single-Arm Tracking on Synthetic Data
13.63Time (ms)CMA-ES (OpenCV kpt.)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| CMA-ES (OpenCV kpt.)Joint=False, Iters=32026.03 | 13.63 | 0.7706 | 0.0177 | 0.6312 | 0.9356 | 0.7557 | |
| XNESJoint=False, Iters=32026.03 | 15.45 | 0.4565 | 0.0075 | 0.2526 | 0.2977 | 0.1397 | |
| CMA-ES (w/o kpt. loss)Joint=False, Iters=32026.03 | 15.77 | 0.2356 | 0.0028 | 0.1279 | 0.2015 | 0.1444 | |
| CMA-ES (Ours)Joint=True, Iters=32026.03 | 15.85 | 0.055 | 0.0015 | 0.0066 | 0.0144 | 0.0043 | |
| CMA-ES (Ours)Joint=False, Iters=32026.03 | 15.93 | 0.2136 | 0.0032 | 0.1371 | 0.1335 | 0.0705 | |
| CMA-ES (Ours)Joint=False, Iters=52026.03 | 23.9 | 0.0734 | 0.0015 | 0.0518 | 0.0535 | 0.0241 | |
| CMA-ES (Online)Joint=True, Iters=32026.03 | 25.15 | — | — | — | — | — | |
| GD (NvDiffRast)Joint=False, Iters=102026.03 | 42.4 | 0.4957 | 0.0089 | 0.3378 | 0.3377 | 0.1715 | |
| GD (NvDiffRast)Joint=True, Iters=102026.03 | 42.51 | 0.2383 | 0.0052 | 0.0326 | 0.0353 | 0.0028 | |
| GD (NvDiffRast)Joint=False, Iters=202026.03 | 79.53 | 0.283 | 0.0053 | 0.2051 | 0.1479 | 0.0601 | |
| GD (PyTorch3D)Joint=False, Iters=102026.03 | 98.59 | 0.5279 | 0.0108 | 0.4162 | 0.2571 | 0.0501 |