Locomotion on Humanoid Dynamic Faults v5
152,825,979Episodic ReturnCerebellar-Inspired Residual Control
Evaluation Results
| Method | Links | |
|---|---|---|
| Cerebellar-Inspired Residual ControlCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 152,825,979 | |
| Robust SACCategory=Train with faults, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 125,975,633 | |
| SACCategory=Classic RL, Fault Exposure=None, Fault Severity=Moderate2026.02 | 101,085,556 | |
| SAC + Online LMSCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 96,875,554 | |
| SAC + OSICategory=Fault-aware, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 77,901,112 |