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Real-world Experiments

Benchmarks

Task NameDataset NameSOTA ResultTrend
Visual-Inertial OdometryReal-world Experiments campus_mean
ATE RMSE (m)2.02
7
Visual-Inertial OdometryReal-world Experiments lab_mean
ATE RMSE (m)0.076
7
Visual-Inertial OdometryReal-world Experiments 5_campus
ATE RMSE (m)2.266
7
Visual-Inertial OdometryReal-world Experiments 4_campus
ATE RMSE (m)1.773
7
Visual-Inertial OdometryReal-world Experiments 3_lab_hard
ATE RMSE (m)0.096
7
Visual-Inertial OdometryReal-world Experiments 2_lab_easy
ATE RMSE (m)0.044
7
Pick up the cucumberReal-world Experiments
Execution Time (s)8
4
Move the spongeReal-world Experiments
Execution Time (s)10
4
Target PlacementReal-world experiments
Success Rate (Orange→Plate)41.7
4
RelocationReal-world experiments
Ball to Dish Success Rate58.3
4
GraspingReal-world experiments
Apple Success Rate75
4
Velocity EstimationReal-world experiments Contact phase
RMSE0.0121
3
Robotic ManipulationReal-world Experiments
Reach Success Rate (Viewpoint Variation)18
2
Stack Blocks TwoReal-world Experiments 15 trials (test)
Success Rate20
2
Adjust BottleReal-world Experiments 15 trials (test)
Success Rate46.7
2
Place ObjectReal-world Experiments 15 trials (test)
Success Rate73.3
2
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