ResearchBenchmarksReal-Robot Juggling 4-ball fountainFollow1.81st Success MetricFixed Jacobian residual1.711.7551.81.845Jun 15, 2026Evaluation ResultsMethodMethodLinks1st Success Metric1st 3-in-a-Row SuccessControl Residual Magnitude (||u||)Noise Floor Sigma (||e||)Fixed Jacobian residual2026.061.83.80.220.019