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Benchmarks
Interaction control on Experiment 4.2.2
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1.4
Contact established (s)
Unified Control Architecture
1.2436
2.2993
3.355
4.4107
Feb 2, 2026
Contact established (s)
Force RMSE (N)
Desired Force Reach Time (s)
Position Reach Time (s)
Improvement vs. LF-based (%)
Improvement vs. RB-based (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Contact established (s)
Force RMSE (N)
Desired Force Reach Time (s)
Position Reach Time (s)
Improvement vs. LF-based (%)
Improvement vs. RB-based (%)
Unified Control Architecture
Control Architecture=ours
2026.02
1.4
-
2.79
1.87
0.43
0.74
LF-based
Control Architecture=L...
2026.02
2.46
-
4.31
3.96
-
-
RB-based
Control Architecture=R...
2026.02
5.31
-
8.14
-
-
-
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