Humanoid Locomotion on IsaacLab Unitree G1 Flat terrain (κ=4.0)
5,473ReturnDD-SRad
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DD-SRadBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 5,473 | 0.138 | 0.3 | 998 | |
| BoxPre+Backbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 5,213 | 0.224 | 5.7 | 970 | |
| SRad-QPBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 5,166 | 0.187 | 0.3 | 998 | |
| D-TanhBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 5,145 | 0.207 | 2.2 | 989 | |
| Post(QP)Backbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 4,954 | 0.139 | 0 | 1,000 | |
| SRad-StrictBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 1,312 | 0.36 | 91 | 403 |