Quadruped Locomotion on Slippery Slope real-world evaluation
1.82Forward ProgressionSimDist
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SimDistSpeed=0.3 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 1.82 | 100 | |
| SimDistSpeed=0.5 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 1.82 | 100 | |
| SimDistSpeed=0.1 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 1.78 | 80 | |
| Single-step BC policySpeed=0.1 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 1.49 | 40 | |
| Single-step BC policySpeed=0.3 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 1.43 | 20 | |
| Pretrained modelSpeed=0.5 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 0.9 | 0 | |
| Pretrained modelSpeed=0.1 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 0.7 | 0 | |
| Single-step BC policySpeed=0.5 m s⁻¹, Evaluation Protocol=Pre-finetuning policy2026.03 | 0.62 | 0 | |
| IQLSpeed=0.5 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0.46 | 0 | |
| Pretrained modelSpeed=0.3 m s⁻¹, Evaluation Protocol=Zero-shot deployment2026.03 | 0.43 | 0 | |
| IQLSpeed=0.3 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0.39 | 0 | |
| RLPDSpeed=0.5 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0.35 | 0 | |
| RLPDSpeed=0.3 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0.34 | 0 | |
| RLPDSpeed=0.1 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0.32 | 0 | |
| IQLSpeed=0.1 m s⁻¹, Evaluation Protocol=Real-world finetuning (35.7 min)2026.03 | 0 | 0 |