Quadruped Locomotion on Foam real-world (evaluation)
3Forward Progression DistanceSimDist
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SimDistSpeed=0.2 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 3 | 1 | |
| SimDistSpeed=0.7 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 3 | 1 | |
| SimDistSpeed=1.2 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 3 | 1 | |
| Pretrained modelSpeed=0.2 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 2.98 | 0.6 | |
| IQLSpeed=1.2 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 2.73 | 0.6 | |
| Single-step BC policySpeed=1.2 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 2.45 | 0.4 | |
| Pretrained modelSpeed=0.7 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 2.39 | 0.4 | |
| IQLSpeed=0.7 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 2.25 | 0.4 | |
| Single-step BC policySpeed=0.2 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 2.07 | 0.2 | |
| Pretrained modelSpeed=1.2 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 1.7 | 0 | |
| Single-step BC policySpeed=0.7 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 1.54 | 0.2 | |
| IQLSpeed=0.2 m s⁻¹, Evaluation Protocol=Real-world finetuning (32.1 min)2026.03 | 0.92 | 0.2 |