Push Object on Isaac Lab
0.096Tracking Linear Error (m/s) MeanReST-RL (Action WB)
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ReST-RL (Action WB)Base Policy Type=WB, Residual Module Type=Action2026.03 | 0.096 | 0.103 | 0.084 | 0.076 | 0.023 | 0.039 | 71.3 | |
| ReST-RL (FiLM WB)Base Policy Type=WB, Residual Module Type=FiLM2026.03 | 0.107 | 0.1 | 0.073 | 0.068 | 0.04 | 0.034 | 74.6 | |
| Base Policy (WB)Base Policy Type=WB2026.03 | 0.11 | 0.111 | 0.079 | 0.066 | 0.186 | 0.072 | 25.2 | |
| End2EndMethod Architecture=End-to-End2026.03 | 0.117 | 0.114 | 0.099 | 0.08 | 0.049 | 0.043 | 50.2 | |
| ReST-RL (Action JT)Base Policy Type=JT, Residual Module Type=Action2026.03 | 0.161 | 0.104 | 0.141 | 0.118 | 0.033 | 0.039 | 70.7 |