Hardware Evaluation
VNB terminated in fewer steps and less wall-clock time than Gaussian MPC in hardware trials. Both VNB and Gaussian MPC achieved 100% hardware success, so the results are not a powered success-rate comparison. The hardware grasp-quality met…
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VNB terminated in fewer steps and less wall-clock time than Gaussian MPC in hardware trials. Both VNB and Gaussian MPC achieved 100% hardware success, so the results are not a powered success-rate comparison. The hardware grasp-quality metric is a proxy rather than a direct force-closure certificate. The hardware evaluation included 24 total trials, 12 per method. The hardware setup used an FR3 cobot, RealHand L6 hand, Orbbec camera, and RealSense camera.