# Wrench Tracking on 100 Robot Layouts (OOD)

Source: [Wrench Tracking on 100 Robot Layouts (OOD)](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-07-07T08:26:10.265Z

Evaluation of Wrench Tracking performance on the 100 Robot Layouts (OOD) dataset, measuring positional and physical error norms, as well as success rates at specific tolerances.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Wrench Tracking |
| Dataset (including any stated split) | 100 Robot Layouts (OOD) |
| Metric | Mean Error Norm |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Mean Error Norm](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Mean%20Error%20Norm>): Lower is better; unit: SCALAR.

- [Median Error Norm](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Median%20Error%20Norm>): Lower is better; unit: SCALAR.

- [95th Percentile Error Norm](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=95th%20Percentile%20Error%20Norm>): Lower is better; unit: SCALAR.

- [Maximum Error Norm](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Maximum%20Error%20Norm>): Lower is better; unit: SCALAR.

- [Mean Physical Error Norm](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Mean%20Physical%20Error%20Norm>): Lower is better; unit: SCALAR.

- [Success Rate @ Tolerance 0.5](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Success%20Rate%20%40%20Tolerance%200.5>): Higher is better; unit: PERCENT.

- [Success Rate @ Tolerance 1.0](<https://www.sota2.com/research/sota/wrench-tracking-on-100-robot-layouts-ood.md?metric=Success%20Rate%20%40%20Tolerance%201.0>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Mean Error Norm | Result date | Report paper |
| --- | --- | --- | --- |
| layout-independent actuation allocator | 0.1157 | Not recorded | 6a4c87e685dba69fef8b2416 |
| Sequential Quadratic Programming (SQP) | 0.8148 | Not recorded | 6a4c87e685dba69fef8b2416 |
| Quadratic Programming (QP) | 3.3913 | Not recorded | 6a4c87e685dba69fef8b2416 |

### layout-independent actuation allocator

Mean Error Norm: 0.1157. Result ID: 6a4cb80760b88bb339c87b39.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87e685dba69fef8b2416.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a4c87e685dba69fef8b2416.md>)

Recorded evaluation configuration: {"n":"100000"}. This record does not assert independent reproduction.

### Sequential Quadratic Programming (SQP)

Mean Error Norm: 0.8148. Result ID: 6a4cb80760b88bb339c87b3b.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87e685dba69fef8b2416.md>)

Recorded evaluation configuration: {"n":"100000"}. This record does not assert independent reproduction.

### Quadratic Programming (QP)

Mean Error Norm: 3.3913. Result ID: 6a4cb80760b88bb339c87b3a.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87e685dba69fef8b2416.md>)

Recorded evaluation configuration: {"n":"100000"}. This record does not assert independent reproduction.

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