Command Tracking on Isaac Lab
0.093Tracking Linear Error (m/s) MeanReST-RL (Action WB)
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ReST-RL (Action WB)Base Policy Type=WB, Residual Module Type=Action2026.03 | 0.093 | 0.1 | 0.081 | 0.07 | 0.029 | 0.022 | 95.9 | |
| ReST-RL (FiLM WB)Base Policy Type=WB, Residual Module Type=FiLM2026.03 | 0.106 | 0.098 | 0.069 | 0.058 | 0.046 | 0.023 | 96.9 | |
| Base Policy (WB)Base Policy Type=WB2026.03 | 0.11 | 0.107 | 0.078 | 0.065 | 0.179 | 0.064 | 47.4 | |
| End2EndMethod Architecture=End-to-End2026.03 | 0.116 | 0.111 | 0.096 | 0.078 | 0.046 | 0.029 | 89.1 | |
| ReST-RL (Action JT)Base Policy Type=JT, Residual Module Type=Action2026.03 | 0.16 | 0.102 | 0.135 | 0.106 | 0.031 | 0.019 | 96.7 |