Point-to-point Locomotion on Digit SE(2) target commands Simulation 1.0 (test)
0.63Energy ConsumptionGoTo
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GoToReward=Proposed constellation reward2025.08 | 0.63 | 0.56 | 0.67 | 0.6 | 0.42 | |
| Agility-2Type=Hand tuned manufacturer-provided Agility Controller, Status=Normalization Baseline2025.08 | 1 | 1 | 1 | 1 | 1 | |
| Hier. SaWType=Hierarchical Controller trained on velocity-based locomotion2025.08 | 1.11 | 0.95 | 1.05 | 1.39 | 1.63 | |
| FSMType=Handcrafted Finite State Machine2025.08 | 2.04 | 1.35 | 1.72 | 1.33 | 1.6 | |
| Agility-3Type=Factory-provided model-based controller2025.08 | 2.9 | 1.58 | 1.69 | 1.13 | 1.77 |