Locomotion recovery performance on Agility Cassie Friction 1.4x (test)
1.171SSRSAC + Ours
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| SAC + OursCategory=Online2026.03 | 1.171 | 142 | 18,234 | |
| SAC + RLSCategory=Online2026.03 | 1.101 | 354 | 17,749 | |
| DR-SACCategory=Fault-Aware2026.03 | 1.082 | 151 | 17,573 | |
| SAC + MRACCategory=Online2026.03 | 1.071 | 957 | 17,477 | |
| SAC-OnlyCategory=No Adaptation2026.03 | 0.958 | 2,800 | 15,568 | |
| RMACategory=Fault-Aware2026.03 | 0.951 | 2,942 | 18,870 | |
| OSICategory=Fault-Aware2026.03 | 0.812 | 2,822 | 17,070 |