Visual Interaction Force Estimation Based on Time-Sensitive Dual-Resolution Learning Network

Table 3

The influence of different contact media on the performance of our method.

Contact media	RMSE	MAE	MSE
Paper cup	0.0381	0.0208	0.0014	0.9821
Sponge	0.0334	0.0205	0.0011	0.9798
Stapler	0.0332	0.0186	0.0011	0.9803
Tube	0.0342	0.0222	0.0012	0.9837