Quadrupedal Locomotion on ANYmal-C (test)
0.17Position Violation Rate (Last 100 steps)P3O
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| P3O2026.06 | 0.17 | 0.16 | 0.11 | 0.11 | 0.0013 | 0.0024 | 25.65 | 25.73 | — | |
| PPO-AL2026.06 | 0.71 | 0.71 | 0.13 | 0.11 | 0.011 | 0.0071 | 26.93 | 27.06 | — | |
| PPO-EAL2026.06 | 0.72 | 0.81 | 0.094 | 0.091 | 0.0042 | 0.0046 | 27.54 | 27.58 | — | |
| PPO-L2026.06 | 0.78 | 0.86 | 0.076 | 0.067 | 0.0043 | 0.0029 | 27.07 | 27.16 | — | |
| PPO-EAL-m2026.06 | 0.84 | 0.87 | 0.081 | 0.076 | 0.0036 | 0.001 | 27.59 | 27.63 | — | |
| PPO2026.06 | 8.3 | 8.5 | 0.4 | 0.41 | 0.014 | 0.013 | 27.19 | 27.25 | — |