Policy Smoothness Evaluation on Footwork
0.005Action Smoothnessreward 1
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| reward 1penalty_weight=12026.02 | 0.005 | 0.5 | 94.6 | |
| LPNtype=Linear Policy Net2026.02 | 0.009 | 1.3 | 116.6 | |
| reward 0.1penalty_weight=0.12026.02 | 0.01 | 2 | 118 | |
| FF+Jac Penregularization=Action Jacobian Penalty2026.02 | 0.014 | 5.6 | 124.6 | |
| reward 0.01penalty_weight=0.012026.02 | 0.018 | 13.6 | 143.5 | |
| Lipschitzregularization=Lipschitz constraint2026.02 | 0.036 | 21 | 164.6 | |
| No Regregularization=None2026.02 | 0.053 | 27.1 | 178.1 |