ResearchBenchmarksPath following on Figure-8 pathPath following on Figure-8 pathFollow0.8167Position RMSE (m)DSAM whole-body controller0.7758650.7962830.81670.837118Dec 24, 2025Evaluation resultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)DSAM whole-body controller2025.120.816714.3915