# Joint Angle Prediction on Kuka DR synthetic (test)

Source: [Joint Angle Prediction on Kuka DR synthetic (test)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:49:33.195Z

Evaluation of robot joint angle prediction accuracy (Mean Absolute Error in degrees) on the test split of the Kuka DR synthetic dataset.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Joint Angle Prediction |
| Dataset (including any stated split) | Kuka DR synthetic (test) |
| Metric | MAE J1 (deg) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [MAE J1 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J1%20(deg)>): Lower is better; unit: SCALAR.

- [MAE J2 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J2%20(deg)>): Lower is better; unit: SCALAR.

- [MAE J3 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J3%20(deg)>): Lower is better; unit: SCALAR.

- [MAE J4 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J4%20(deg)>): Lower is better; unit: SCALAR.

- [MAE J5 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J5%20(deg)>): Lower is better; unit: SCALAR.

- [MAE J6 (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=MAE%20J6%20(deg)>): Lower is better; unit: SCALAR.

- [Avg MAE (deg)](<https://www.sota2.com/research/sota/joint-angle-prediction-on-kuka-dr-synthetic-test.md?metric=Avg%20MAE%20(deg)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | MAE J1 (deg) | Result date | Report paper |
| --- | --- | --- | --- |
| RoboPEPP | 3.7 | Not recorded | 68fa78541e209131cea77be6 |
| RoboPose | 4.4 | Not recorded | 68fa78541e209131cea77be6 |
| HPE | 4.6 | Not recorded | 68fa78541e209131cea77be6 |

### RoboPEPP

MAE J1 (deg): 3.7. Result ID: 699585f23badfaffe67ebaab.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78541e209131cea77be6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78541e209131cea77be6.md>)

[Implementation](<https://github.com/raktimgg/RoboPEPP>)

Recorded evaluation configuration: {"known\_bounding\_box":false}. This record does not assert independent reproduction.

### RoboPose

MAE J1 (deg): 4.4. Result ID: 699585f23badfaffe67ebaa9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78541e209131cea77be6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2449c.md>)

[Implementation](<https://www.di.ens.fr/willow/research/robopose/>)

Recorded evaluation configuration: {"known\_bounding\_box":false}. This record does not assert independent reproduction.

### HPE

MAE J1 (deg): 4.6. Result ID: 699585f23badfaffe67ebaaa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78541e209131cea77be6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74291e209131cea6021c.md>)

[Implementation](<https://oliverbansk.github.io/Holistic-Robot-Pose/>)

Recorded evaluation configuration: {"known\_bounding\_box":true}. This record does not assert independent reproduction.

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