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Benchmarks
Loco-manipulation tracking on IsaacLab Whole Command Space
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0.08
Root Linear Velocity Tracking Error
AMO
0.0768
0.0984
0.12
0.1416
Jul 9, 2025
Root Linear Velocity Tracking Error
Root Angular Velocity Tracking Error
Root Height Tracking Error
Root Yaw Orientation Tracking Error
Root Pitch Orientation Tracking Error
Root Roll Orientation Tracking Error
Arm Joint Position Tracking Error
Updated 1mo ago
Evaluation Results
Method
Method
Links
Root Linear Velocity Tracking Error
Root Angular Velocity Tracking Error
Root Height Tracking Error
Root Yaw Orientation Tracking Error
Root Pitch Orientation Tracking Error
Root Roll Orientation Tracking Error
Arm Joint Position Tracking Error
AMO
2025.07
0.08
0.1
0.03
0.07
0.11
0.12
0.11
ULC
2025.07
0.1
0.12
0.02
0.05
0.06
0.05
0.04
R2S2
2025.07
0.13
0.15
0.04
0.17
0.13
-
0.1
HOMIE-3-DoF-Waist
2025.07
0.14
0.17
0.04
0.09
0.15
0.14
0.12
HOMIE
2025.07
0.15
0.18
0.04
0.08
-
-
0.12
FALCON
2025.07
0.16
0.19
0.05
0.1
-
-
0.08
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