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Benchmarks
Velocity-tracking on 10-lap circular task in Gazebo simulation
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0.0229
Velocity X
SRB-MPC
0.021072
0.033411
0.04575
0.058089
Apr 5, 2026
Velocity X
Velocity Y
Velocity Z
Angular Velocity X
Angular Velocity Y
Angular Velocity Z
Solution Time
Updated 12d ago
Evaluation Results
Method
Method
Links
Velocity X
Velocity Y
Velocity Z
Angular Velocity X
Angular Velocity Y
Angular Velocity Z
Solution Time
SRB-MPC
Model Type=Nonlinear M...
2026.04
0.0229
0.0196
0.0172
0.091
0.0967
0.3368
1.4
RK-MPC
Model Type=Residual Ko...
2026.04
0.0232
0.0195
0.0177
0.0925
0.0982
0.0938
0.89
SE3-KMPC
Model Type=EDMD-SE(3)...
2026.04
0.0686
0.0877
0.1374
1.0646
0.7421
0.2936
1.57
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