ResearchBenchmarksTrajectory and Force Tracking on MuJoCo Scenario 1 Planar surfaceFollow0.0181Translational Tracking Error RMSE (m)GIC0.0180080.0184960.0189850.019474Apr 23, 2025Evaluation ResultsMethodMethodLinksTranslational Tracking Error RMSE (m)Rotational Tracking Error RMSEForce Tracking Error RMSE (N)GIC2025.040.01810.01294.3606GUFIC2025.040.01990.01174.0064