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Benchmarks
Loco-manipulation tracking on IsaacLab Edge Command Space
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0.11
Root Linear Velocity Tracking Error (Ev)
ULC
0.1044
0.1422
0.18
0.2178
Jul 9, 2025
Root Linear Velocity Tracking Error (Ev)
Root Angular Velocity Tracking Error (Ew)
Root Height Tracking Error (Eh)
Root Yaw Orientation Tracking Error (Ey)
Root Pitch Orientation Tracking Error (Ep)
Root Roll Orientation Tracking Error (Er)
Arm Joint Position Tracking Error (Ea)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Root Linear Velocity Tracking Error (Ev)
Root Angular Velocity Tracking Error (Ew)
Root Height Tracking Error (Eh)
Root Yaw Orientation Tracking Error (Ey)
Root Pitch Orientation Tracking Error (Ep)
Root Roll Orientation Tracking Error (Er)
Arm Joint Position Tracking Error (Ea)
ULC
2025.07
0.11
0.13
0.03
0.06
0.08
0.07
0.05
AMO
2025.07
0.12
0.14
0.05
0.1
0.16
0.15
0.14
R2S2
2025.07
0.17
0.2
0.07
0.18
0.19
-
0.13
HOMIE
2025.07
0.18
0.22
0.06
0.12
-
-
0.15
FALCON
2025.07
0.24
0.26
0.09
0.16
-
-
0.14
HOMIE-3-DoF-Waist
2025.07
0.25
0.28
0.1
0.18
0.28
0.26
0.18
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