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Benchmarks
Physical Parameter Identification on Sphere
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0.0785
Mass
Init(Intern-S1)
0.015372
0.031761
0.04815
0.064539
Jun 23, 2026
Mass
Mass Relative Error
Ixx
Ixx Relative Error
Iyy
Iyy Relative Error
Izz
Izz Relative Error
Updated 1mo ago
Evaluation Results
Method
Method
Links
Mass
Mass Relative Error
Ixx
Ixx Relative Error
Iyy
Iyy Relative Error
Izz
Izz Relative Error
Init(Intern-S1)
VLM Initializer=Intern-S1
2026.06
0.0785
292.5
0
292
0
292
0
292
Init(Gemini-3 Pro)
VLM Initializer=Gemini...
2026.06
0.0687
243.5
0
246
0
246
0
246
RigPI(Ours)
Method Type=RigPI
2026.06
0.0207
3.5
0
7.4
0
4.2
0
8.2
Gradsim Baseline
Method Type=Gradsim
2026.06
0.0181
9.5
0
17.6
0
13.8
0
17.8
Least-Square Baseline
Method Type=Least-Square
2026.06
0.0178
11
0
26.2
0
15.8
0
17.8
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