Continuous Control on HalfCheetah (Robustness Gap)
0.03Robustness GapUP(mlp(wide))
Evaluation Results
| Method | Links | |
|---|---|---|
| UP(mlp(wide))Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.03 | |
| UP(mlp(narrow))Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.03 | |
| UP(gru)Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.03 | |
| UP(lstm)Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.04 | |
| UP(mlp(wide))Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.06 | |
| UP(mlp(narrow))Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.06 | |
| UP(gru)Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.06 | |
| UP(lstm)Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.08 | |
| UP(mlp(narrow))Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.13 | |
| UP(mlp(wide))Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.14 | |
| UP(gru)Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.17 | |
| UP(lstm)Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.04 | 0.18 |