Locomotion on Humanoid Environment Faults v5
198,257,932Episodic ReturnCerebellar-Inspired Residual Control
Evaluation Results
| Method | Links | |
|---|---|---|
| Cerebellar-Inspired Residual ControlCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 198,257,932 | |
| Robust SACCategory=Train with faults, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 146,942,728 | |
| SAC + Online LMSCategory=Residual, Fault Exposure=Inference-time adaptation, Fault Severity=Moderate2026.02 | 128,393,369 | |
| SACCategory=Classic RL, Fault Exposure=None, Fault Severity=Moderate2026.02 | 110,994,909 | |
| SAC + OSICategory=Fault-aware, Fault Exposure=Training-time, Fault Severity=Moderate2026.02 | 92,651,064 |