Robot Locomotion on Walk-to-One-Side Trot Isaac Gym (simulation)
0.48RMSEPPO-MLP
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| PPO-MLPMorphological Symmetry (M)=false, Kinematic Structure (K)=false2025.11 | 0.48 | 185.9 | 1.115 | 213.9 | |
| MS-PPOMorphological Symmetry (M)=true, Kinematic Structure (K)=true2025.11 | 0.532 | 173 | 0.537 | 173.1 | |
| MI-PPOMorphological Symmetry (M)=false, Kinematic Structure (K)=true2025.11 | 0.678 | 166.7 | 1.39 | 165.5 | |
| PPO-EMLP*Morphological Symmetry (M)=true, Kinematic Structure (K)=false2025.11 | 1.006 | 533.7 | 1.006 | 534 |