# Trot gait fine-tuning on Sim-to-sim IsaacSim to MuJoCo (train)

Source: [Trot gait fine-tuning on Sim-to-sim IsaacSim to MuJoCo (train)](<https://www.sota2.com/research/sota/trot-gait-fine-tuning-on-sim-to-sim-isaacsim-to-mujoco-train>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-19T08:03:29.598Z

Evaluation of agent performance during Trot gait fine-tuning using Sim-to-Sim transfer from IsaacSim to MuJoCo, measured by failure rates (falls/crashes).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Trot gait fine-tuning |
| Dataset (including any stated split) | Sim-to-sim IsaacSim to MuJoCo (train) |
| Metric | Average Failure Rate |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Average Failure Rate](<https://www.sota2.com/research/sota/trot-gait-fine-tuning-on-sim-to-sim-isaacsim-to-mujoco-train.md?metric=Average%20Failure%20Rate>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Average Failure Rate | Result date | Report paper |
| --- | --- | --- | --- |
| SLowRL | 0 | Not recorded | 69bb82ed0636e5bf4afc18b4 |
| FFT w safety | 7.5 | Not recorded | 69bb82ed0636e5bf4afc18b4 |
| FFT wo safety | 14.25 | Not recorded | 69bb82ed0636e5bf4afc18b4 |

### SLowRL

Average Failure Rate: 0. Result ID: 69bbadb347f34ce924a55cf6.

[Reporting paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

Recorded evaluation configuration: {"Safety Mechanism":"Implicit (low-rank adaptation)","Fine-tuning Type":"Low-rank adaptation"}. This record does not assert independent reproduction.

### FFT w safety

Average Failure Rate: 7.5. Result ID: 69bbadb347f34ce924a55cf5.

[Reporting paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

Recorded evaluation configuration: {"Safety Mechanism":"Safety filter and recovery policy","Fine-tuning Type":"Full Parameter Fine-Tuning"}. This record does not assert independent reproduction.

### FFT wo safety

Average Failure Rate: 14.25. Result ID: 69bbadb347f34ce924a55cf4.

[Reporting paper](<https://www.sota2.com/research/paper/69bb82ed0636e5bf4afc18b4.md>)

Recorded evaluation configuration: {"Safety Mechanism":"None","Fine-tuning Type":"Full Parameter Fine-Tuning"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.