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ResearchFormerly WizWand

Continuous Control on HalfCheetah (Robustness Gap)

0.03Robustness GapUP(mlp(wide))
0.0240.06450.1050.1455Apr 30, 2026
Updated 6mo ago

Evaluation results

MethodLinks
UP(mlp(wide))Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.03
UP(mlp(narrow))Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.03
UP(gru)Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.03
UP(lstm)Context=friction, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.04
UP(mlp(wide))Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.06
UP(mlp(narrow))Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.06
UP(gru)Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.06
UP(lstm)Context=mass_torso, State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.08
UP(mlp(narrow))Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.13
UP(mlp(wide))Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.14
UP(gru)Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.17
UP(lstm)Context=(friction, mass_torso), State-action history length (k)=4, Data retention fraction (alpha)=Tuned2026.040.18