Quadruped Locomotion Robustness on Mixed Velocity Quadruped Locomotion (Evaluation Rollouts)
1.07Cost of Trajectory (CoT)STL-based unified model
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| STL-based unified modelvx (Forward velocity)=1.60, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.07 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=1.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.1 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=1.90, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.11 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=2.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.12 | 100 | 80 | |
| STL-based unified modelvx (Forward velocity)=2.10, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.13 | 100 | 0 | |
| STL-based unified modelvx (Forward velocity)=1.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.21 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=0.70, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.24 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=0.50, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.46 | 100 | 100 | |
| Heuristic-best modelvx (Forward velocity)=2.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.69 | 100 | 0 | |
| Heuristic-best modelvx (Forward velocity)=2.10, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.69 | 90 | 0 | |
| Heuristic-best modelvx (Forward velocity)=1.90, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.72 | 100 | 0 | |
| Heuristic-best modelvx (Forward velocity)=1.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.74 | 100 | 100 | |
| Heuristic-best modelvx (Forward velocity)=1.60, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.74 | 100 | 100 | |
| Heuristic-best modelvx (Forward velocity)=1.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.76 | 100 | 100 | |
| Heuristic-best modelvx (Forward velocity)=0.70, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.83 | 100 | 100 | |
| STL-based unified modelvx (Forward velocity)=0.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 1.87 | 100 | 100 | |
| Heuristic-best modelvx (Forward velocity)=0.50, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 2.11 | 100 | 35 | |
| Heuristic-best modelvx (Forward velocity)=0.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.07 | 2.55 | 100 | 0 |