RVBD Franka Corrected Comparison
This is the corrected run after synchronizing the solver's internal
body_q_prev to the projected pose. The previous RVBD video was wrong
because the next step computed BDF velocities against a stale pre-projection pose.
| Metric | Value |
|---|---|
| Max pose error, RVBD vs maximal | 0.440 mm |
| RMS pose error, RVBD vs maximal | 0.221 mm |
| Hand max position error | 0.409 mm |
| Max finger position error | 0.237 mm |
| Maximal joint residual max | 3.41e-5 m |
| Reduced before-projection joint residual max | 7.78e-6 m |
| Reduced after-projection joint residual max | 1.96e-7 m |
| First non-finite pre-projection step | none |
| Video mean pixel MAE | 0.085 |
Videos
Maximal AVBD
RVBD Reduced, GN=2
Side-by-side
Plots
Pose Error Over Time
Joint Distance Over Time
Files
comparison_metrics.json, diagnostic_metrics.json, worst-frame pixel diff
