ResearchBenchmarksTrajectory Smoothness Analysis on LIBERO 5-suite aggregate (suite maximum)Follow0.07Worst L2 Norm (m)POTR0.062280.114390.16650.21861May 23, 2026Evaluation ResultsMethodMethodLinksWorst L2 Norm (m)Worst AccuracyWorst JerkPOTRDelay=1–5 AverageDelay=1–5 Average2026.050.072.3274.348RTCDelay=1–5 AverageDelay=1–5 Average2026.050.0932.6784.826NaiveDelay=1–5 AverageDelay=1–5 Average2026.050.2633.2325.85