Push Recovery on Humanoid Locomotion Simulation
425Max Recovery Force (0°)MPC-RL (Averaged)
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MPC-RL (Averaged)Reward Method=MPC-RL, Reward Weighting Schedule={0.2, 0.2, 0.2, 0.2, 0.2}2026.06 | 425 | 150 | 350 | 150 | |
| MPC-RL (Tapered)Reward Method=MPC-RL, Reward Weighting Schedule={0.5, 0.25, 0.15, 0.07, 0.03}2026.06 | 400 | 150 | 450 | 250 | |
| CLF-RLReward Method=CLF-RL2026.06 | 375 | 125 | 350 | 150 | |
| OGMPReward Method=OGMP2026.06 | 375 | 200 | 375 | 150 | |
| MPC-RL (Next-step)Reward Method=MPC-RL, Reward Weighting Schedule={1, 0, 0, 0, 0}2026.06 | 325 | 125 | 350 | 100 | |
| Baseline RLReward Method=Baseline RL2026.06 | 300 | 100 | 350 | 125 |