Config | Training | Avg Forward Velocity | Forward Velocity Var | Avg Lateral Velocity | Lateral Velocity Var | Quaternion RMSD |
v2 | Before | 0.01860 | 0.00501 | 0.01622 | 0.00736 | 0.48510 |
After | 0.00246 | 0.00014 | −0.00898 | 8.96179 | 0.02470 | |
v3 | Before | 0.05471 | 0.10599 | −0.00958 | 0.06394 | 1.53760 |
After | 0.00088 | 3.24642 | −0.00079 | 7.81647 | 0.02532 | |
v4 | Before | −0.00047 | 0.00545 | 0.01309 | 0.01372 | 0.58807 |
After | −0.00682 | 0.00733 | 0.03574 | 0.00867 | 0.24176 | |
v5 | Before | 0.02872 | 0.02078 | 0.01295 | 0.01616 | 0.76279 |
After | 0.04291 | 0.01532 | −0.01927 | 0.02627 | 0.24463 | |
v6 | Before | −0.00739 | 0.01301 | −0.01959 | 0.00641 | 0.80840 |
After | −0.00650 | 0.00752 | −0.00858 | 0.01636 | 0.22429 |