Robot Locomotion on Walk-to-One-Side Pronk Isaac Gym (simulation)
0.466RMSEMS-PPO
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MS-PPOMorphological Symmetry (M)=true, Kinematic Structure (K)=true2025.11 | 0.466 | 123 | 0.453 | 122.3 | |
| PPO-MLPMorphological Symmetry (M)=false, Kinematic Structure (K)=false2025.11 | 0.476 | 123 | 0.99 | 112.1 | |
| PPO-EMLP*Morphological Symmetry (M)=true, Kinematic Structure (K)=false2025.11 | 1.046 | 242.9 | 1.034 | 236.9 | |
| MI-PPOMorphological Symmetry (M)=false, Kinematic Structure (K)=true2025.11 | 2.781 | 558.8 | 3.177 | 627.3 |