Visual Servoing Ablation Experiment Analysis Report
Comparison of convergence error curves and parameters across ablation configurations in two test scenarios
1. Ablation Method Parameter Comparison
Differences in controller parameters across six ablation configurations and main statistical metrics for both scenarios (convergence rate / success rate / avg position error on convergence (cm) / avg rotation error on convergence (rad)).
| Method | buffer_size | ref_image | dynamic_anchor | mask_input | frame_alignment | mug_musk_wo Scene Stats | mug_musk_w Scene Stats |
|---|---|---|---|---|---|---|---|
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2. Test Set Convergence Error CDF (Ablation Study) – Log Scale
Cumulative distribution of final position/angle error for all test targets (log scale). Colors distinguish methods, line styles (solid/dashed) distinguish scenes. Red dashed lines represent success thresholds.
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3. Servo Process Details
Select a scene and target image to view servo process videos and error curves for each method.
Input Configuration
Servo Process Videos for Each Method
Pose Trajectory and Error Curves
Click legend to hide/show corresponding method curves. Step range is fixed 0–300, error uses log scale.