End-effector tracking on Figure-Eight Path
0.151RMSEhierarchical RL framework with inner-loop dynamics estimator
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| hierarchical RL framework with inner-loop dynamics estimatorPayload=200 g, Speed=1.0 m/s2026.06 | 0.151 | 95 | — | — | |
| hierarchical RL framework with inner-loop dynamics estimatorPayload=200 g, Speed=0.5 m/s2026.06 | 0.18 | 95 | — | — | |
| INDI (RL+INDI+PID)Payload=200 g, Speed=0.5 m/s2026.06 | 0.195 | 95 | — | — | |
| hierarchical RL framework with inner-loop dynamics estimatorPayload=400 g, Speed=0.5 m/s2026.06 | 0.195 | 95 | — | — | |
| hierarchical RL framework with inner-loop dynamics estimatorPayload=400 g, Speed=1.0 m/s2026.06 | 0.205 | 90 | — | — | |
| INDI (RL+INDI+PID)Payload=400 g, Speed=0.5 m/s2026.06 | 0.21 | 95 | — | — | |
| INDI (RL+INDI+PID)Payload=200 g, Speed=1.0 m/s2026.06 | 0.22 | 90 | — | — | |
| RL+PIDPayload=200 g, Speed=0.5 m/s2026.06 | 0.242 | 85 | — | — | |
| INDI (RL+INDI+PID)Payload=400 g, Speed=1.0 m/s2026.06 | 0.285 | 85 | — | — | |
| RL+PIDPayload=400 g, Speed=0.5 m/s2026.06 | 0.288 | 75 | — | — | |
| RL+PIDPayload=200 g, Speed=1.0 m/s2026.06 | 0.315 | 70 | — | — | |
| RL+PIDPayload=400 g, Speed=1.0 m/s2026.06 | 0.392 | 60 | — | — | |
| hierarchical RL framework with inner-loop dynamics estimatorCondition=Summary (Aggregated)2026.06 | — | — | 0.024 | 40.9 | |
| INDI (RL+INDI+PID)Condition=Summary (Aggregated)2026.06 | — | — | 0.038 | 26.4 | |
| RL+PIDCondition=Summary (Aggregated)2026.06 | — | — | 0.062 | 0 |