Locomotion recovery performance on Agility Cassie Mass 1.15x increase (test)
1.077SSR ScoreSAC + Ours
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SAC + OursCategory=Online2026.03 | 1.077 | 601 | 17,219 | |
| SAC + MRACCategory=Online2026.03 | 1.073 | 611 | 17,151 | |
| DR-SACCategory=Fault-Aware2026.03 | 1.07 | 594 | 17,268 | |
| SAC + RLSCategory=Online2026.03 | 1.061 | 1,051 | 16,968 | |
| SAC-OnlyCategory=No Adaptation2026.03 | 1.037 | 1,351 | 16,755 | |
| RMACategory=Fault-Aware2026.03 | 0.986 | 3,900 | 16,912 | |
| OSICategory=Fault-Aware2026.03 | 0.844 | 2,162 | 16,147 |