Second-order model (Walk)

lowerback-Yrot

Iradius—Xrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

Halton+

S10

0.05

0.93

0.47

8.99

Halton+

S30

0.66

11.08

0.01

2.25

Halton+

S60

0.24

7.17

2.51

27.17

Halton+

S100

0.67

9.21

0.11

5.56