Control
Orientation Error
Orientation error is a measure of the rotational discrepancy between a desired and an actual orientation, used as the feedback signal in attitude and end-effector pose control. Common parameterizations include the angle of the relative rotation (geodesic distance on SO(3)), quaternion error, and axis-angle vectors; naive per-axis Euler-angle differences are avoided because of singularities and non-uniqueness.
Why it matters for physical AI
How rotation error is represented affects controller stability and learned-policy loss design; poorly chosen orientation losses are a recurring source of subtle failures in pose tracking and imitation.
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