Mr. Pi

[Mr. Pi @squared2pi]

@StevenOh_ Figure 5 provides some indication through the reported L2 norm of tau_ext; however, since tau_ext depends on the robot configuration through the Jacobian, it is difficult to relate these values to the actual magnitude of the applied external wrench.

[Mr. Pi @squared2pi]

@StevenOh_ I see. What I'm trying to understand is how the accuracy of NEXT changes as the magnitude of the external wrench increases. I know from the paper that NEXT was evaluated under contact conditions, but it does not explicitly report the range of external wrenches during testing.

[Mr. Pi @squared2pi]

@JasonJZLiu @StevenOh_ @_tonytao_ Oh cool. It would be great to investigate how accurately NEXT estimates the external joint torques caused by payloads of known masses (up to 3 kg). I think this experiment could serve as an excellent testbed for validating its accuracy and OOD generalization.

[Mr. Pi @squared2pi]

@Mrpossidez As technology progresses, I believe we’ll see deviations from the human form factor in favor of more efficient designs. A case in point is the new Boston Dynamics Atlas robot (https://t.co/8WZKVQdWBh).

[Mr. Pi @squared2pi]

@Mrpossidez Great points made. I’d like to add that one of the major reasons for the interest in legged robots, such as humanoids, is that the world around us has been built for humans. For a robot to perform useful tasks in human-centric environments, legs are necessary (at least for now).