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Single-contact information prediction baseline: (A) Prediction accuracy for contact position using SVR, k-NN and FNN. (B) Comparing predictions of SVR, k-NN, and FNN for single-contact force information in a 2D surface projection. Gray dots represent geometry grid, blue dots are ground truth force positions, red, orange and green dots are predicted force positions using SVR, k-NN, FNN, respectively. Arrows indicate the error vectors.
