ResearchBenchmarksReaching on Real World Bobcat E10 100 successive reaching trials (test)Reaching on Real World Bobcat E10 100 successive reaching trials (test)Follow0.08SR (0.02, 0.02)iCEM-0.00320.01840.040.0616Jan 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=true2026.010.080.710.20.050.12PPODyn. model=MLP Δq̇Dyn. model=MLP Δq̇2026.010.020.990.070.040.05PPODyn. model=MLP ΔqDyn. model=MLP Δq2026.010.010.430.010.010.154PPODyn. model=KAN ΔqDyn. model=KAN Δq2026.0100.690.020.020.099