Config | Training | Avg Forward Velocity | Forward Velocity Var | Avg Lateral Velocity | Lateral Velocity Var | Quaternion RMSD |
v1 | Before | 0.00811 | 0.00159 | −0.00014 | 0.00122 | 0.11504 |
After | 0.01768 | 0.00159 | −0.00165 | 0.00209 | 0.08928 | |
v2 | Before | 0.04184 | 0.01127 | 0.01694 | 0.00677 | 0.65451 |
After | 0.11786 | 0.00934 | 0.01633 | 0.00359 | 0.27343 | |
v3 | Before | 0.00428 | 0.00112 | −0.00054 | 0.00096 | 0.24305 |
After | 0.01630 | 0.00298 | −0.00424 | 0.00160 | 0.14709 | |
v4 | Before | 0.04817 | 0.00312 | −0.00385 | 0.00479 | 0.31144 |
After | 0.06142 | 0.00212 | 0.01391 | 0.00644 | 0.11721 |