Joint Torque Tracking on dVRK Sinusoid Trajectory benchmark leaderboard · SOTA2 Research

Joint Torque Tracking on dVRK Sinusoid Trajectory

0.48Mean ErrorPID with Computed Torque Feedforward

Evaluation Results

Method
PID with Computed Torque Feedforward2026.03	0.48	0.38	0.62	3.57
PID with Computed Torque Feedforward2026.03	0.48	0.37	0.61	3.05
PID with dVRK Software Gravity Compensation2026.03	0.49	0.38	0.62	2.06
PID with dVRK Software Gravity Compensation2026.03	0.49	0.38	0.61	2.1
PID only2026.03	0.49	0.38	0.62	2.93
PID only2026.03	0.49	0.38	0.61	2.42
PID with Computed Torque Feedforward2026.03	0.7	0.53	0.88	5.18
PID only2026.03	0.7	0.52	0.87	4.05
PID with dVRK Software Gravity Compensation2026.03	0.71	0.53	0.88	2.78