ResearchBenchmarksEnd-Effector Pose Tracking on Physical DSAM SystemEnd-Effector Pose Tracking on Physical DSAM SystemFollow0.0536Position Error Mean (m)DSAM0.0517640.0641570.076550.088943Dec 24, 2025Evaluation resultsMethodMethodLinksPosition Error Mean (m)Position Error Std. (m)Orientation Error Mean (deg)Orientation Error Std. (deg)Success RateDSAMPayload Condition=0 gPayload Condition=0 g2025.120.05360.01668.80787.1834—DSAMPayload Condition=140 gPayload Condition=140 g2025.120.09540.050515.70064.8312—DSAMPayload Condition=50 gPayload Condition=50 g2025.120.09950.069512.5023.0619—