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Benchmarks
Interaction control on Experiment 4.2.1
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0.11
Contact Establishment Time
Unified Control Architecture
0.0784
0.2917
0.505
0.7183
Feb 2, 2026
Contact Establishment Time
Force RMSE
Desired Force Reach Time
Position Achievement Time
Improvement vs. LF-based (%)
Improvement vs. RB-based (%)
Updated 4d ago
Evaluation Results
Method
Method
Links
Contact Establishment Time
Force RMSE
Desired Force Reach Time
Position Achievement Time
Improvement vs. LF-based (%)
Improvement vs. RB-based (%)
Unified Control Architecture
Control Architecture=ours
2026.02
0.11
-
1.32
0.51
68
88
LF-based
Control Architecture=L...
2026.02
0.33
-
1.69
1.41
-
-
RB-based
Control Architecture=R...
2026.02
0.9
-
3.55
-
-
-
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