Velocity Control on Safety Gymnasium Humanoid benchmark leaderboard · SOTA2 Research

Velocity Control on Safety Gymnasium Humanoid

6,478.3ReturnPPOLag

Evaluation Results

Method	Links
PPOLag2026.06		6,478.3	25.7
UCP2026.06		6,361.7	4.5
SACLag2026.06		6,137.2	8.9
SACPID2026.06		6,068.6	0.6
TD3PID2026.06		6,021.6	24.2
PPOSaute2026.06		5,986	20.4
TD3Lag2026.06		5,925.7	20.4
PPO-ET2026.06		5,547.7	6