Bipedal Locomotion on Unitree H1-2 bipedal robot v1 (test)
100Success RateOracle (O)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Oracle (O)beta=12026.01 | 100 | 2.26 | 0 | 30.09 | |
| ORbeta=1, control_mode=direct torque2026.01 | 100 | 2.32 | 0.27 | 26.45 | |
| BORbeta=1, control_mode=residual torque2026.01 | 100 | 2.39 | 0.28 | 26.45 | |
| ILbeta=12026.01 | 80 | 3.65 | 0.62 | 25.96 | |
| BasePolicy (B)beta=12026.01 | 0 | 12.42 | 0.04 | 2.56 | |
| ResRL (BR)beta=12026.01 | 0 | 11.93 | 7.61 | 0.2 | |
| MBCbeta=12026.01 | 0 | 22.01 | 2.21 | 0.63 |