ResearchBenchmarksSingle-trajectory motion-tracking on Cartwheel skill trajectorySingle-trajectory motion-tracking on Cartwheel skill trajectoryFollow183.632Samples Count (SR >= 80%) [M]ADD160.9132166.81135172.7095178.60765Feb 4, 2026Evaluation resultsMethodMethodLinksSamples Count (SR >= 80%) [M]Position Error [m]Rotation Error [rad]ADDLength=2.72Length=2.722026.02183.6320.0310.129PDF-HRLength=2.72Length=2.722026.02161.7870.0280.126