Locomotion on Humanoid Actuator Faults v5
139,815,624Episodic ReturnCerebellar-Inspired Residual Control
Evaluation Results
| Method | Links | |
|---|---|---|
| Cerebellar-Inspired Residual ControlCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 139,815,624 | |
| Robust SACCategory=Train with faults, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 116,206,410 | |
| SAC + Online LMSCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 87,035,832 | |
| SACCategory=Classic RL, Fault Exposure=None, Fault Severity=Moderate2026.02 | 81,684,702 | |
| SAC + OSICategory=Fault-aware, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 57,541,771 |