Haptera
- F1 (mean)
- 2.26%
- Setup 2
- 1.12%
- Setup 6
- 3.24%
- Setup 7
- 2.42%
RH20T timing
Finding changes in sensor readings from video across three robot setups.
Predictions within 200 ms of the sensor time count as matches.
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| Model | F1 (mean) | Setup 2 | Setup 6 | Setup 7 |
|---|---|---|---|---|
| Haptera | 2.26% | 1.12% | 3.24% | 2.42% |
| Open DINOv2 | 0.85% | 0.67% | 0.90% | 0.98% |
| Open V-JEPA2 | 0.27% | 0.20% | 0.23% | 0.39% |
Open DINOv2
- F1 (mean)
- 0.85%
- Setup 2
- 0.67%
- Setup 6
- 0.90%
- Setup 7
- 0.98%
Open V-JEPA2
- F1 (mean)
- 0.27%
- Setup 2
- 0.20%
- Setup 6
- 0.23%
- Setup 7
- 0.39%
Robot setup 2
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| Model | F1 | Precision | Recall | Median timing error, ms |
|---|---|---|---|---|
| Haptera | 1.12% | 16.55% | 0.58% | 83.00 |
| Open DINOv2 | 0.67% | 7.87% | 0.35% | 105.50 |
| Open V-JEPA2 | 0.20% | 6.25% | 0.10% | 138.50 |
Haptera
- F1
- 1.12%
- Precision
- 16.55%
- Recall
- 0.58%
- Median timing error, ms
- 83.00
Open DINOv2
- F1
- 0.67%
- Precision
- 7.87%
- Recall
- 0.35%
- Median timing error, ms
- 105.50
Open V-JEPA2
- F1
- 0.20%
- Precision
- 6.25%
- Recall
- 0.10%
- Median timing error, ms
- 138.50
Stricter timing test and event counts
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| Model | Predicted events | Matched at ±200 | Precision ±200 | Recall ±200 | F1 ±200 | F1 ±100 | False events/hour ±200 | Matched median lag ±200, ms |
|---|---|---|---|---|---|---|---|---|
| Haptera | 139 | 23 | 16.55% | 0.58% | 1.12% | 0.73% | 60.99 | 83.00 |
| Open DINOv2 | 178 | 14 | 7.87% | 0.35% | 0.67% | 0.34% | 86.23 | 105.50 |
| Open V-JEPA2 | 64 | 4 | 6.25% | 0.10% | 0.20% | 0.05% | 31.55 | 138.50 |
Robot setup 6
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| Model | F1 | Precision | Recall | Median timing error, ms |
|---|---|---|---|---|
| Haptera | 3.24% | 24.82% | 1.74% | 73.00 |
| Open DINOv2 | 0.90% | 16.07% | 0.46% | 90.00 |
| Open V-JEPA2 | 0.23% | 4.79% | 0.12% | 112.00 |
Haptera
- F1
- 3.24%
- Precision
- 24.82%
- Recall
- 1.74%
- Median timing error, ms
- 73.00
Open DINOv2
- F1
- 0.90%
- Precision
- 16.07%
- Recall
- 0.46%
- Median timing error, ms
- 90.00
Open V-JEPA2
- F1
- 0.23%
- Precision
- 4.79%
- Recall
- 0.12%
- Median timing error, ms
- 112.00
Stricter timing test and event counts
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| Model | Predicted events | Matched at ±200 | Precision ±200 | Recall ±200 | F1 ±200 | F1 ±100 | False events/hour ±200 | Matched median lag ±200, ms |
|---|---|---|---|---|---|---|---|---|
| Haptera | 407 | 101 | 24.82% | 1.74% | 3.24% | 2.25% | 45.45 | 73.00 |
| Open DINOv2 | 168 | 27 | 16.07% | 0.46% | 0.90% | 0.50% | 20.94 | 90.00 |
| Open V-JEPA2 | 146 | 7 | 4.79% | 0.12% | 0.23% | 0.07% | 20.65 | 112.00 |
Robot setup 7
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| Model | F1 | Precision | Recall | Median timing error, ms |
|---|---|---|---|---|
| Haptera | 2.42% | 18.54% | 1.29% | 109.00 |
| Open DINOv2 | 0.98% | 11.19% | 0.51% | 111.00 |
| Open V-JEPA2 | 0.39% | 3.92% | 0.20% | 147.50 |
Haptera
- F1
- 2.42%
- Precision
- 18.54%
- Recall
- 1.29%
- Median timing error, ms
- 109.00
Open DINOv2
- F1
- 0.98%
- Precision
- 11.19%
- Recall
- 0.51%
- Median timing error, ms
- 111.00
Open V-JEPA2
- F1
- 0.39%
- Precision
- 3.92%
- Recall
- 0.20%
- Median timing error, ms
- 147.50
Stricter timing test and event counts
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| Model | Predicted events | Matched at ±200 | Precision ±200 | Recall ±200 | F1 ±200 | F1 ±100 | False events/hour ±200 | Matched median lag ±200, ms |
|---|---|---|---|---|---|---|---|---|
| Haptera | 205 | 38 | 18.54% | 1.29% | 2.42% | 1.15% | 39.94 | 109.00 |
| Open DINOv2 | 134 | 15 | 11.19% | 0.51% | 0.98% | 0.39% | 28.46 | 111.00 |
| Open V-JEPA2 | 153 | 6 | 3.92% | 0.20% | 0.39% | 0.13% | 35.15 | 147.50 |
Reference events and available input
| Configuration | Episodes | All reference onsets | Hours of shared available input | Reference events outside available inputs | Original input refusals / their missed truths |
|---|---|---|---|---|---|
| cfg2 | 702 | 3,971 | 1.901881 | 2,990 | 29 / 72 |
| cfg6 | 581 | 5,818 | 6.731961 | 127 | 0 / 0 |
| cfg7 | 401 | 2,937 | 4.181643 | 30 | 0 / 0 |