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. Author manuscript; available in PMC: 2026 Apr 22.
Published in final edited form as: IEEE Robot Autom Lett. 2026 Feb 27;11(4):5017–5024. doi: 10.1109/lra.2026.3668449

TABLE II.

Optimized parameters and performance metrics for ABP and IP.

ABP IP
W1k 0.55 0.50
W2k 0.30 0.70
W1eq 0.227 0.186
W2eq −0.726 −0.502
RMSE 4.48 ± 1.49 4.77 ± 0.43
Corr 0.973 ± 0.017 0.974 ± 0.006