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Comparative RD performance curves. (a) Class A1 “Campfire @ 3840 × 2160.” (b) Class A2 “CatRobot @ 3840 × 2160.” (c) Class B “BasketballDrive @ 1920 × 1080.” (d) Class C “BasketballDrill @ 832 × 480.” (e) Class D “BasketballPass @ 416 × 240.”
