Tactile Hardness Regression on TactEx Collected Data (fine-tuning)
4.3RMSEResNet50-LSTM3
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| ResNet50-LSTM3Backbone=ResNet50, LSTM Layers=3, Contact Images=22026.02 | 4.3 | 0.73 | 0.88 | |
| TransformerBackbone=Transformer, Contact Images=2, Training Scale=Half Scale2026.02 | 4.33 | 0.73 | 0.89 | |
| ResNet50-LSTM3Backbone=ResNet50, LSTM Layers=3, Contact Images=2, Training Scale=Half Scale2026.02 | 5.01 | 0.64 | 0.86 | |
| TransformerBackbone=Transformer, Contact Images=22026.02 | 6.23 | 0.44 | 0.77 | |
| TransformerBackbone=Transformer, Contact Images=42026.02 | 6.27 | 0.44 | 0.76 | |
| ResNet34-LSTM3Backbone=ResNet34, LSTM Layers=3, Contact Images=22026.02 | 6.5 | 0.41 | 0.89 | |
| ResNet101-LSTM3Backbone=ResNet101, LSTM Layers=3, Contact Images=22026.02 | 7.79 | 0.16 | 0.86 | |
| ResNet50-LSTM3Backbone=ResNet50, LSTM Layers=3, Contact Images=42026.02 | 8.8 | -0.11 | 0.73 | |
| ResNet50-LSTM3Backbone=ResNet50, LSTM Layers=3, Contact Images=2, Direct Training=true2026.02 | 9.4 | 0.05 | 0.21 | |
| ResNet50-LSTM1Backbone=ResNet50, LSTM Layers=1, Contact Images=22026.02 | 10.63 | -0.65 | 0.78 | |
| VGG-LSTM3Backbone=VGG, LSTM Layers=3, Contact Images=22026.02 | 20.99 | -5.32 | 0.02 |