ResearchBenchmarksRobot Locomotion on SimScapeFollow0.73Stability (Avg)Expert0.0020.1910.380.569Jun 11, 2024Evaluation ResultsMethodMethodLinksStability (Avg)Stability (Range)COT (Range) (J/kg/m)COT (Avg) (J/kg/m)Training Time (Range) (h)Training Time (Avg) (h)Speed (Range) (m/s)Speed (Avg) (m/s)Expert2024.060.73——81———0.09MBRL+PT2024.060.65-0.0441687.910.80.040.26MFRL2024.060.030.024050119.722.60.0020.003