Locomotion recovery performance on Unitree H1 Mass 1.15x increase (test)
1.065Success Score (SSR)SAC + Ours
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| SAC + OursCategory=Online2026.03 | 1.065 | 116 | 25,546 | |
| SAC-OnlyCategory=No Adaptation2026.03 | 1.064 | 298 | 24,548 | |
| SAC + RLSCategory=Online2026.03 | 1.063 | 505 | 25,419 | |
| SAC + MRACCategory=Online2026.03 | 1.062 | 392 | 25,512 | |
| DR-SACCategory=Fault-Aware2026.03 | 1.06 | 334 | 23,509 | |
| RMACategory=Fault-Aware2026.03 | 1.057 | 350 | 24,573 | |
| OSICategory=Fault-Aware2026.03 | 0.931 | 2,967 | 23,128 |