ResearchBenchmarksReaching on Gazebo 100 successive reaching trials (test)Reaching on Gazebo 100 successive reaching trials (test)Follow77SR (0.02, 0.02)iCEM1.0820.7940.560.21Jan 12, 2026Evaluation resultsMethodMethodLinksSR (0.02, 0.02)SR (0.12, 0.08)OOWOOZMin. Z (m)iCEMDyn. model=MLP Δq̇, rt...Dyn. model=MLP Δq̇, rt_epsilon and rt_X set to zero=true2026.017798720.151PPODyn. model=KAN ΔqDyn. model=KAN Δq2026.011387630PPODyn. model=MLP Δq̇Dyn. model=MLP Δq̇2026.018100920.005PPODyn. model=MLP ΔqDyn. model=MLP Δq2026.01494410.091