Humanoid Fall Recovery on Isaac Gym Unitree G1
463.45Avg Energy Overall (J)PCHC
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| PCHCPreference=(1.00, 0.00)2026.03 | 463.45 | 743.14 | 416.96 | 223.9 | 223.01 | 224.17 | 1.82 | 62.24 | |
| PCHCPreference=(1.00, 0.00)2026.03 | 463.45 | 743.14 | 416.96 | 223.9 | 223.01 | 224.17 | 1.82 | 62.24 | |
| PCHCPreference=(0.75, 0.25)2026.03 | 480.58 | 747.43 | 435.15 | 241.31 | 227.86 | 245.31 | 1.73 | 67.95 | |
| PCHCPreference=(0.75, 0.25)2026.03 | 480.58 | 747.43 | 435.15 | 241.31 | 227.86 | 245.31 | 1.73 | 67.95 | |
| PCHCPreference=(0.50, 0.50)2026.03 | 517.9 | 787.09 | 476.94 | 243.04 | 227.26 | 246 | 1.62 | 75.73 | |
| PCHCPreference=(0.50, 0.50)2026.03 | 517.9 | 787.09 | 476.94 | 243.04 | 227.26 | 246 | 1.62 | 75.73 | |
| HoST2026.03 | 550.15 | 745.25 | 467.67 | 235.65 | 224.02 | 240.18 | 1.69 | 69.22 | |
| HoST2026.03 | 550.15 | 745.25 | 467.67 | 235.65 | 224.02 | 240.18 | 1.69 | 69.22 | |
| PCHCPreference=(0.25, 0.75)2026.03 | 583.31 | 807.77 | 550.13 | 249.08 | 229.82 | 251.93 | 1.12 | 91.95 | |
| PCHCPreference=(0.25, 0.75)2026.03 | 583.31 | 807.77 | 550.13 | 249.08 | 229.82 | 251.93 | 1.12 | 91.95 | |
| PCHCPreference=(0.00, 1.00)2026.03 | 666.24 | 790.43 | 646.83 | 256.23 | 232.33 | 260.55 | 0.75 | 96.56 | |
| PCHCPreference=(0.00, 1.00)2026.03 | 666.24 | 790.43 | 646.83 | 256.23 | 232.33 | 260.55 | 0.75 | 96.56 |