Joint-position tracking on Cross-Robot Tracking Simulation v1 (train)
0.42Joint-position RMSE (degrees)TAM sim-ft.
Evaluation Results
| Method | Links | |
|---|---|---|
| TAM sim-ft.Robot=Piper, DoF=6, Fine-tuning=true2026.06 | 0.42 | |
| TAM sim-ft.Robot=Panda, DoF=7, Fine-tuning=true2026.06 | 0.43 | |
| TAM sim-ft.Robot=iiwa14, DoF=7, Fine-tuning=true2026.06 | 0.47 | |
| TAMRobot=Piper, DoF=6, Fine-tuning=false2026.06 | 0.52 | |
| TAMRobot=iiwa14, DoF=7, Fine-tuning=false2026.06 | 0.56 | |
| TAMRobot=Panda, DoF=7, Fine-tuning=false2026.06 | 0.59 | |
| TAM sim-ft.Robot=RBY-1, DoF=7, Fine-tuning=true2026.06 | 0.66 | |
| TAM sim-ft.Robot=Flexiv Rizon4, DoF=7, Fine-tuning=true2026.06 | 0.68 | |
| Online SysIDRobot=Piper, DoF=62026.06 | 0.83 | |
| TAMRobot=Flexiv Rizon4, DoF=7, Fine-tuning=false2026.06 | 0.84 | |
| TAMRobot=RBY-1, DoF=7, Fine-tuning=false2026.06 | 0.84 | |
| Online SysIDRobot=iiwa14, DoF=72026.06 | 0.99 | |
| Online SysIDRobot=Flexiv Rizon4, DoF=72026.06 | 1.33 | |
| Online SysIDRobot=RBY-1, DoF=72026.06 | 1.39 | |
| Online SysIDRobot=Panda, DoF=72026.06 | 1.43 | |
| DirectRobot=iiwa14, DoF=72026.06 | 3.69 | |
| DirectRobot=RBY-1, DoF=72026.06 | 3.8 | |
| DirectRobot=Flexiv Rizon4, DoF=72026.06 | 4.06 | |
| DirectRobot=Panda, DoF=72026.06 | 4.16 | |
| DirectRobot=Piper, DoF=62026.06 | 4.88 |