Trotting Gait Control on Unitree Go2 Robot Hardware Zero-Shot v1 (test)
5.424Average Speed (AS)PPO
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PPOWeight=+4kg, v_cmd_x (m/s)=1.0, zero-shot=true2024.04 | 5.424 | 4.371 | 0.668 | |
| PPOWeight=+2kg, v_cmd_x (m/s)=1.0, zero-shot=true2024.04 | 5.068 | 4.252 | 0.411 | |
| PPOWeight=+4kg, v_cmd_x (m/s)=0.8, zero-shot=true2024.04 | 5.067 | 4.023 | 0.517 | |
| PPO-PGDLCWeight=+4kg, v_cmd_x (m/s)=1.0, lambda=5 × 10−5, zero-shot=true2024.04 | 4.913 | 4.087 | 0.526 | |
| PPOWeight=+4kg, v_cmd_x (m/s)=0.6, zero-shot=true2024.04 | 4.841 | 3.742 | 0.432 | |
| PPOWeight=+2kg, v_cmd_x (m/s)=0.8, zero-shot=true2024.04 | 4.757 | 3.942 | 0.354 | |
| PPO-PGDLCWeight=+4kg, v_cmd_x (m/s)=0.8, lambda=5 × 10−5, zero-shot=true2024.04 | 4.686 | 3.855 | 0.584 | |
| PPO-PGDLCWeight=+2kg, v_cmd_x (m/s)=1.0, lambda=5 × 10−5, zero-shot=true2024.04 | 4.685 | 3.812 | 0.396 | |
| PPOWeight=+2kg, v_cmd_x (m/s)=0.6, zero-shot=true2024.04 | 4.501 | 3.725 | 0.242 | |
| PPO-PGDLCWeight=+4kg, v_cmd_x (m/s)=0.6, lambda=5 × 10−5, zero-shot=true2024.04 | 4.498 | 3.739 | 0.473 | |
| PPO-PGDLCWeight=+2kg, v_cmd_x (m/s)=0.8, lambda=5 × 10−5, zero-shot=true2024.04 | 4.488 | 3.741 | 0.306 | |
| PPO-PGDLCWeight=+2kg, v_cmd_x (m/s)=0.6, lambda=5 × 10−5, zero-shot=true2024.04 | 4.306 | 3.767 | 0.258 |