ResearchBenchmarksTrajectory and Force Tracking on MuJoCo Scenario 2 (Spherical surface)Follow0.0129Translational Tracking Error RMSE (m)GUFIC0.0127560.013460.0141650.01487Apr 23, 2025Evaluation ResultsMethodMethodLinksTranslational Tracking Error RMSE (m)Rotational Tracking Error RMSEForce Tracking Error RMSE (N)GUFIC2025.040.01290.01164.0356GIC2025.040.01550.01288.2564