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Successful rate for sim2real transfer for each method.
| Stiffness value (Nmm/°) | 0.11 (%) | 0.58 (%) | 1.03 (%) | 1.19 (%) | 2.12 (%) | Total (%) |
|---|---|---|---|---|---|---|
| Proposed | 90 | 90 | 75 | 85 | 100 | 88 |
| CycleGAN | 40 | 30 | 10 | 80 | 45 | 41 |
| Supervised | 95 | 25 | 0 | 100 | 95 | 63 |
| No transfer method | 25 | 30 | 75 | 5 | 35 | 34 |
