Locomotion and end-effector pose tracking on Simulation Environment Complete Weakening k_tau=0.0
89.8Survival RateFT-WBC
Evaluation results
| Method | Links | ||
|---|---|---|---|
| FT-WBCFaulty Joint=RR Hip2026.06 | 89.8 | 0.77 | |
| FT-WBCFaulty Joint=FL Hip2026.06 | 88.1 | 0.75 | |
| FT-WBCFaulty Joint=RL Thigh2026.06 | 86.5 | 0.72 | |
| FT-WBCFaulty Joint=FR Thigh2026.06 | 84.3 | 0.7 | |
| w/o PAMFaulty Joint=RR Hip2026.06 | 83.4 | 0.71 | |
| FT-WBCFaulty Joint=Average2026.06 | 80.8 | 0.66 | |
| w/o PAMFaulty Joint=FL Hip2026.06 | 80.2 | 0.69 | |
| w/o PAMFaulty Joint=RL Thigh2026.06 | 76.3 | 0.66 | |
| w/o PAMFaulty Joint=FR Thigh2026.06 | 73.1 | 0.63 | |
| w/o PAMFaulty Joint=Average2026.06 | 70.3 | 0.59 | |
| FT-WBCFaulty Joint=RL Calf2026.06 | 68.8 | 0.52 | |
| FT-WBCFaulty Joint=FL Calf2026.06 | 67.2 | 0.5 | |
| w/o FEFaulty Joint=RR Hip2026.06 | 66.3 | 0.45 | |
| w/o FEFaulty Joint=FL Hip2026.06 | 62.4 | 0.42 | |
| w/o FEFaulty Joint=RL Thigh2026.06 | 58.7 | 0.38 | |
| w/o PAMFaulty Joint=RL Calf2026.06 | 55.6 | 0.43 | |
| w/o FEFaulty Joint=FR Thigh2026.06 | 55.2 | 0.35 | |
| w/o PAMFaulty Joint=FL Calf2026.06 | 53.4 | 0.41 | |
| w/o FEFaulty Joint=Average2026.06 | 52.5 | 0.34 | |
| Robo-DuetFaulty Joint=RR Hip2026.06 | 50.2 | 0.33 | |
| Robo-DuetFaulty Joint=FL Hip2026.06 | 45.3 | 0.3 | |
| Robo-DuetFaulty Joint=RL Thigh2026.06 | 42.1 | 0.27 | |
| Robo-DuetFaulty Joint=FR Thigh2026.06 | 39.4 | 0.24 | |
| w/o FEFaulty Joint=RL Calf2026.06 | 37.4 | 0.21 | |
| w/o FEFaulty Joint=FL Calf2026.06 | 35.1 | 0.19 | |
| Robo-DuetFaulty Joint=Average2026.06 | 29.4 | 0.19 |