# Locomotion Control Smoothness on IsaacLab-to-MuJoCo Trot sim-to-sim (fine-tuning)

Source: [Locomotion Control Smoothness on IsaacLab-to-MuJoCo Trot sim-to-sim (fine-tuning)](<https://www.sota2.com/research/sota/locomotion-control-smoothness-on-isaaclab-to-mujoco-trot-sim-to-sim-fine-tuning>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-19T08:03:29.638Z

Evaluation of locomotion control smoothness during fine-tuning using Sim-to-Sim transfer from IsaacLab to MuJoCo, specifically measuring the percentage reduction in action rate.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Locomotion Control Smoothness |
| Dataset (including any stated split) | IsaacLab-to-MuJoCo Trot sim-to-sim (fine-tuning) |
| Metric | Action Rate Reduction (%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 2 of 2 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Action Rate Reduction (%)](<https://www.sota2.com/research/sota/locomotion-control-smoothness-on-isaaclab-to-mujoco-trot-sim-to-sim-fine-tuning.md?metric=Action%20Rate%20Reduction%20(%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Action Rate Reduction (%) | Result date | Report paper |
| --- | --- | --- | --- |
| SLowRL | 88.9 | Not recorded | 69bb82ed0636e5bf4afc18b4 |
| FFT | 38.9 | Not recorded | 69bb82ed0636e5bf4afc18b4 |

### SLowRL

Action Rate Reduction (%): 88.9. Result ID: 69bbadb347f34ce924a55cfb.

[Reporting paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

Recorded evaluation configuration: {"Protocol":"Sim-to-Sim","Gait":"Trot"}. This record does not assert independent reproduction.

### FFT

Action Rate Reduction (%): 38.9. Result ID: 69bbadb347f34ce924a55cfa.

[Reporting paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

Recorded evaluation configuration: {"Protocol":"Sim-to-Sim","Gait":"Trot"}. This record does not assert independent reproduction.

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