Humanoid Locomotion on IsaacLab Unitree H1 Rough terrain, κ≈2.2
37.14ReturnDD-SRad
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DD-SRadBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 37.14 | 0.459 | 48.7 | 748 | |
| D-TanhBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 34.56 | 0.462 | 58.7 | 679 | |
| BoxPre+Backbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 23.11 | 0.385 | 70.2 | 526 | |
| Post(QP)Backbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 19.53 | 0.465 | 88 | 339 | |
| SRad-QPBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 13.64 | 0.39 | 76.5 | 431 | |
| SRad-StrictBackbone=FastSAC [38], Evaluation Seeds=5, Test Episodes=1000 per seed, CVR=02026.05 | 0.83 | 0.624 | 100 | 139 |