Config | Training | Avg Forward Velocity | Forward Velocity Var | Avg Lateral Velocity | Lateral Velocity Var | Quaternion RMSD |
v2 | Before | 0.00806 | 0.00717 | −0.01078 | 0.00735 | 0.53355 |
After | 0.00779 | 0.00138 | 0.00151 | 0.00200 | 0.05436 | |
v3 | Before | 0.01594 | 0.00517 | −0.00575 | 0.00780 | 0.31721 |
After | 0.00114 | 0.00017 | 0.00019 | 6.82285 | 0.02599 | |
v4 | Before | 0.02810 | 0.01114 | 0.01725 | 0.01278 | 0.39417 |
After | −0.00094 | 0.00070 | −0.00311 | 0.00077 | 0.02860 |