Trajectory tracking on 15 Real-World Tasks (In-Distribution)
100Success Rate (SR)CMP
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| CMPLatency (ms)=2.99 ± 0.142026.04 | 100 | 5.1 | 0.09 | |
| Neural CBF2026.04 | 95.9 | 5.4 | 0.123 | |
| CMPRsafe=1.52026.04 | 95.2 | 6 | 0.139 | |
| CMPRsafe=1002026.04 | 94.9 | 3.5 | 0.086 | |
| CMPRsafe=2.0*2026.04 | 94.7 | 4.5 | 0.106 | |
| CMPRsafe=3.02026.04 | 94.7 | 3.8 | 0.091 | |
| CMPRsafe=2.52026.04 | 91.3 | 4.1 | 0.097 | |
| Latent Shielding2026.04 | 90.9 | 4.4 | 0.096 | |
| UMI-on-Legs2026.04 | 85.3 | 4.9 | 0.105 | |
| CMPRsafe=1.02026.04 | 84.2 | 15.6 | 0.291 | |
| UMI-on-LegsLatency (ms)=2.97 ± 0.152026.04 | 80 | 4.9 | 0.07 | |
| Neural CBFLatency (ms)=5.36 ± 0.542026.04 | 80 | 4.8 | 0.09 | |
| Latent ShieldingLatency (ms)=3.89 ± 0.492026.04 | 73.3 | 6.9 | 0.09 |