Gait Optimization on Towing Tank Single Limb (test)
48.58Episode RewardPPO (w/o Cost)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| PPO (w/o Cost)cost_signal=ignored2026.03 | 48.58 | 0.391 | |
| ACPPO-PID2026.03 | 45.19 | 0.235 | |
| PPO-Penaltyobjective=scalar penalty on reward2026.03 | 43.46 | 0.314 | |
| ACPPO-PID (w/o Cycle Loss)cycle_loss=false2026.03 | 43.35 | 0.271 | |
| CPPO-PID2026.03 | 39.58 | 0.249 | |
| ACPPO-PID (w/o Asym Clip)asymmetric_clipping=false2026.03 | 38.66 | 0.212 | |
| CPPO-PID-Hexploration=fixed clip [1−ϵ, 1+ϵhi]2026.03 | 37.1 | 0.261 | |
| BFtype=sinusoidal paddling policy2026.03 | 26.31 | 0.332 |