Velocity tracking on ANYmal-D Real-world (physical hardware trials)
0.154eyaw (rad/s)URMA
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| URMASR=adap, Safe?=⋄, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.154 | — | — | 0.1179 | 0.0881 | |
| PALSR=1, Safe?=✓, P:D gains=85.0:0.5, Payload=13 kg2025.10 | 0.2199 | — | — | 0.107 | 0.0772 | |
| Particle FilterSR=adap, Safe?=✓, P:D gains=85.0:0.5, Payload=0 kg2025.10 | 0.2278 | — | — | 0.0954 | 0.0706 | |
| PALSR=1, Safe?=✓, P:D gains=85.0:0.5, Payload=0 kg2025.10 | 0.2504 | — | — | 0.0947 | 0.077 | |
| Particle FilterSR=adap, Safe?=✓, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.253 | — | — | 0.11 | 0.0764 | |
| Specialist PPO2026.04 | 0.26 | 0.28 | 0 | — | — | |
| QWMProtocol=Zero-Shot2026.04 | 0.29 | 0.3 | 0 | — | — | |
| Particle FilterSR=adap, Safe?=✓, P:D gains=85.0:0.5, Payload=13 kg2025.10 | 0.2922 | — | — | 0.1041 | 0.0698 | |
| PALSR=1, Safe?=✓, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.2955 | — | — | 0.1082 | 0.0878 | |
| MorALSR=adap, Safe?=⋄, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.3384 | — | — | 0.1864 | 0.1227 |