Trot gait fine-tuning on Sim-to-sim IsaacSim to MuJoCo (train)
0Average Failure RateSLowRL
Evaluation results
| Method | Links | |
|---|---|---|
| SLowRLSafety Mechanism=Implicit (low-rank adaptation), Fine-tuning Type=Low-rank adaptation2026.03 | 0 | |
| FFT w safetySafety Mechanism=Safety filter and recovery policy, Fine-tuning Type=Full Parameter Fine-Tuning2026.03 | 7.5 | |
| FFT wo safetySafety Mechanism=None, Fine-tuning Type=Full Parameter Fine-Tuning2026.03 | 14.25 |