Evaluation Card
Benchmark Task
Given a temporal history of six body-fixed induced-flow sensors, predict the leader-centered relative state of a nearby fish.
Inputs
Inputs are sparse velocity histories from processed HDF5 arrays. The main feature sets are:
raw: raw per-sensor induced velocity features.raw_norm: raw features plus amplitude-normalized velocity features and the local scale.
Targets
Location-only runs predict (delta_x, delta_y). Full-state runs predict (delta_x, delta_y, theta_rel).
Metrics
Position error is reported as sqrt(RMSE_delta_x^2 + RMSE_delta_y^2) in body lengths. Relative-orientation error is circular mean absolute error for theta_rel, reported in degrees.
Pose-Holdout Split
All wake phases for each held-out test pose are assigned to the test partition. Training and validation are drawn from the remaining non-test samples, so training and validation may contain different phases of the same non-test pose. This matches the experiment driver and prevents repeated-pose leakage into the test set.
Main Ablations
- History length.
- Sensor ablation.
- Flow component: wake-only, potential-only, wake-plus-potential.
- Common raw-noise stress test.
- Architecture screen.
- Sample-size convergence.
- Self-signal controls.
Noise Protocol
Noise is added to raw u/v channels before feature construction and standardization. The component/noise sweep uses a common absolute raw-sensor noise scale across flow components.
Self-Signal Controls
Aligned and randomized-orientation datasets separate external-only, self-only, and total-like external-plus-self signals. Self-only is a negative control for leakage.
Expected Manuscript Numbers
Stored CSVs in data/results/ contain the manuscript numbers. The main full-state close-wake result is approximately 0.040 L position RMSE and 0.53 deg theta_rel MAE. Randomized-orientation external-plus-self full-state control is approximately 0.087 L close-wake position RMSE and 1.08 deg close-wake theta_rel MAE.
Failure Modes and Limitations
Potential-only inputs can be accurate without noise but fail under the common absolute noise stress test. Farther wake regions are harder than close-wake regions. The artifact does not evaluate full biological pressure sensing, multi-neighbor assignment, or closed-loop control.