Precision Reach-and-Hold on MuJoCo Single-Finger Setup (test)
3WP Passed CountMPC
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| MPCController=G6, Frequency=500 Hz, Advance Criterion=|e| ≤ 15 mrad2026.06 | 3 | 0.3 | 5 | 12 | 5 | 6 | 3 | |
| MPC + KalmanController=G7, Frequency=500 Hz, Advance Criterion=|e| ≤ 15 mrad2026.06 | 3 | 0.3 | 0.5 | 12 | 0 | 0 | 0 | |
| Stiff ImpedanceController=G1, Advance Criterion=|e| ≤ 15 mrad2026.06 | 0 | 0.3 | 154 | 200 | 150 | 200 | 100 | |
| AdmittanceController=G2, Advance Criterion=|e| ≤ 15 mrad2026.06 | 0 | 0.3 | 501 | 660 | 495 | 660 | 330 | |
| PI ImpedanceController=G3, Advance Criterion=|e| ≤ 15 mrad2026.06 | 0 | 45.7 | 118 | 171 | 87 | 101 | 80 | |
| MPCController=G4, Frequency=100 Hz, Advance Criterion=|e| ≤ 15 mrad2026.06 | 0 | 3.2 | 89 | 295 | 83 | 111 | 56 | |
| MPC + KalmanController=G5, Frequency=100 Hz, Advance Criterion=|e| ≤ 15 mrad2026.06 | 0 | 0.3 | 25 | 300 | 0 | 0 | 0 |