Push Robot on Isaac Lab
0.142Mean Tracking Linear Error (m/s)ReST-RL (FiLM WB)
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ReST-RL (FiLM WB)Base Policy Type=WB, Residual Module Type=FiLM2026.03 | 0.142 | 0.168 | 0.094 | 0.123 | 0.043 | 0.032 | 84.6 | |
| ReST-RL (Action WB)Base Policy Type=WB, Residual Module Type=Action2026.03 | 0.146 | 0.204 | 0.11 | 0.142 | 0.039 | 0.044 | 73.4 | |
| Base Policy (WB)Base Policy Type=WB2026.03 | 0.162 | 0.222 | 0.11 | 0.156 | 0.19 | 0.089 | 9.1 | |
| End2EndMethod Architecture=End-to-End2026.03 | 0.17 | 0.215 | 0.123 | 0.155 | 0.055 | 0.051 | 44 | |
| ReST-RL (Action JT)Base Policy Type=JT, Residual Module Type=Action2026.03 | 0.19 | 0.168 | 0.176 | 0.213 | 0.038 | 0.04 | 72.5 |