Spring Semester Performance Evaluation
The spring semester focused on establishing the core pick-and-place pipeline. The targeted performance requirements were recognition and localization of lab equipment, collision-free path planning, grasping, and commanding lab machines. Specifically, the system targeted equipment detection at greater than 90% accuracy with a false-positive rate below 5%, localization within 3cm of ground truth and orientation within 5 degrees, collision-free path generation 95% of the time, grasping with a secure grip in 75% of attempts, and correct command transmission to lab machines with 100% accuracy
The table below shows the performance of the system over the 2 end-to-end runs shown in the Spring Validation Demonstration. The detailed videos are present in the videos section.
| Task | Target | Achieved |
| PR3a. Recognize Lab Equipment | 90% | (5/5) 100% |
| PR3b. Localize Lab Equipment | ≤3 cm error | <1 cm error |
| PR4. Plan to Reach Lab Equipment | 95% | (16/16) 100% |
| PR5. Grasp Lab Equipment | 75% | (6/6) 100% |
| PR7. Command Lab Machines | 100% | (2/2) 100% |
All spring targeted requirements were met or exceeded. Detection, localization, planning, grasping, and lab machine commanding all achieved 100% success rates in testing. The most notable improvement over target was in localization, where the system achieved sub-centimeter error against a 3 cm target. Grasping also significantly exceeded its target, achieving perfect success with retries against a 75% baseline.