ResearchBenchmarksGround Force Estimation on GroundLinkGround Force Estimation on GroundLinkFollow2.9GFE Vertical Error (Z)GraCE2.7843.5674.355.133Jun 6, 2026Evaluation resultsMethodMethodLinksGFE Vertical Error (Z)GFE Lateral Error (L)GFE Resultant Error (R)GraCE2026.062.911.2IPMAN2026.064.51.81.7EstimCD2026.065.31.92.1GLinkNet2026.065.51.82.2ImDyS2026.065.62.21.7PhysPT2026.065.82.22.1