Velocity Tracking on Humanoid Locomotion Simulation
0.128RMSE (vx Velocity Tracking)MPC-RL (Tapered)
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| MPC-RL (Tapered)Reward Method=MPC-RL, Reward Weighting Schedule={0.5, 0.25, 0.15, 0.07, 0.03}2026.06 | 0.128 | 0.132 | |
| MPC-RL (Averaged)Reward Method=MPC-RL, Reward Weighting Schedule={0.2, 0.2, 0.2, 0.2, 0.2}2026.06 | 0.134 | 0.136 | |
| OGMPReward Method=OGMP2026.06 | 0.148 | 0.161 | |
| CLF-RLReward Method=CLF-RL2026.06 | 0.151 | 0.139 | |
| Baseline RLReward Method=Baseline RL2026.06 | 0.161 | 0.157 | |
| MPC-RL (Next-step)Reward Method=MPC-RL, Reward Weighting Schedule={1, 0, 0, 0, 0}2026.06 | 0.19 | 0.17 |