Jumping on Biped Robot
98.5Success RateSRL
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SRL2026.06 | 98.5 | 5.7 | |
| RL-only (PPO)2026.06 | 91.3 | 7.2 | |
| SRLAblation=w/o Velocity Reward2026.06 | 89.5 | 6.2 | |
| SRLAblation=w/o FSM Structure2026.06 | 80.3 | 7.5 | |
| SLIP-based MPC2026.06 | 68 | — |
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