Locomotion and end-effector pose tracking on Simulation Environment Partial Weakening k_tau=0.1
96.5Survival Ratew/o PAM
Evaluation results
| Method | Links | ||
|---|---|---|---|
| w/o PAMFaulty Joint=RR Hip2026.06 | 96.5 | 0.84 | |
| FT-WBCFaulty Joint=RR Hip2026.06 | 96.2 | 0.82 | |
| FT-WBCFaulty Joint=FL Hip2026.06 | 95.6 | 0.81 | |
| FT-WBCFaulty Joint=RL Thigh2026.06 | 94.8 | 0.79 | |
| w/o PAMFaulty Joint=FL Hip2026.06 | 94.8 | 0.8 | |
| w/o PAMFaulty Joint=RL Thigh2026.06 | 93.6 | 0.77 | |
| FT-WBCFaulty Joint=FR Thigh2026.06 | 93.4 | 0.77 | |
| FT-WBCFaulty Joint=Average2026.06 | 91.8 | 0.73 | |
| w/o PAMFaulty Joint=FR Thigh2026.06 | 91.2 | 0.75 | |
| w/o PAMFaulty Joint=Average2026.06 | 90.2 | 0.71 | |
| FT-WBCFaulty Joint=RL Calf2026.06 | 86.2 | 0.61 | |
| FT-WBCFaulty Joint=FL Calf2026.06 | 84.5 | 0.59 | |
| w/o PAMFaulty Joint=RL Calf2026.06 | 83.6 | 0.57 | |
| w/o PAMFaulty Joint=FL Calf2026.06 | 81.4 | 0.54 | |
| w/o FEFaulty Joint=RR Hip2026.06 | 79.1 | 0.56 | |
| w/o FEFaulty Joint=FL Hip2026.06 | 75.2 | 0.52 | |
| w/o FEFaulty Joint=RL Thigh2026.06 | 71.3 | 0.48 | |
| w/o FEFaulty Joint=FR Thigh2026.06 | 68.4 | 0.45 | |
| w/o FEFaulty Joint=Average2026.06 | 67.7 | 0.44 | |
| Robo-DuetFaulty Joint=RR Hip2026.06 | 63.2 | 0.43 | |
| Robo-DuetFaulty Joint=FL Hip2026.06 | 59.4 | 0.39 | |
| w/o FEFaulty Joint=RL Calf2026.06 | 57.1 | 0.33 | |
| w/o FEFaulty Joint=FL Calf2026.06 | 55.2 | 0.29 | |
| Robo-DuetFaulty Joint=RL Thigh2026.06 | 55.1 | 0.35 | |
| Robo-DuetFaulty Joint=FR Thigh2026.06 | 52.3 | 0.33 | |
| Robo-DuetFaulty Joint=Average2026.06 | 37.5 | 0.25 |