Contact Estimation on MuJoCo Trot - Stable
99.86Left Foot Contact Accuracy (%)PI CNN
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| PI CNNTrained=Stable2025.10 | 99.86 | 99.46 | 96 | 99.86 | 99.9 | 99.8 | 98.85 | |
| PI CNNTrained=Fused2025.10 | 99.8 | 99.39 | 95.65 | 99.83 | 99.88 | 99.78 | 99.82 | |
| Lin et al.Trained=Stable2025.10 | 99 | 96.69 | 58.4 | 98.96 | 99.22 | 99.14 | 99.08 | |
| Lin et al.Trained=Fused2025.10 | 98.99 | 96.79 | 72.91 | 98.91 | 98.88 | 99.05 | 98.96 | |
| GRF TH2025.10 | 69.741 | — | — | 69.58 | 69.41 | 69.62 | 69.95 |