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Force Estimation on Teleoperation Dataset (Soft (Unseen))
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0.18
RMSE (N)
Transformer
0.1604
0.2927
0.425
0.5573
May 29, 2026
RMSE (N)
NRMSE (%)
R2 (%)
Updated 2d ago
Evaluation Results
Method
Method
Links
RMSE (N)
NRMSE (%)
R2 (%)
Transformer
Axis=Fy, Range (N)=3.8...
2026.05
0.18
4.59
91.01
Transformer
Axis=Fx, Range (N)=4.5...
2026.05
0.19
4.24
89.93
Transformer
Axis=Fz, Range (N)=6.1...
2026.05
0.33
5.5
84.88
LSTM
Axis=Fz, Range (N)=6.1...
2026.05
0.47
7.84
69.53
LSTM
Axis=Fy, Range (N)=3.8...
2026.05
0.5
14.04
16.62
LSTM
Axis=Fx, Range (N)=4.5...
2026.05
0.67
14.97
56.72
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