Locomotion recovery performance on Unitree H1 Friction 1.3x increase (test)
1.096SSRSAC + MRAC
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SAC + MRACCategory=Online2026.03 | 1.096 | 427 | 25,784 | |
| SAC + RLSCategory=Online2026.03 | 1.069 | 436 | 25,842 | |
| SAC + OursCategory=Online2026.03 | 1.061 | 373 | 25,453 | |
| SAC-OnlyCategory=No Adaptation2026.03 | 1.06 | 465 | 24,396 | |
| RMACategory=Fault-Aware2026.03 | 1.057 | 379 | 23,633 | |
| DR-SACCategory=Fault-Aware2026.03 | 1.041 | 2,043 | 23,165 | |
| OSICategory=Fault-Aware2026.03 | 1.039 | 1,966 | 23,495 |