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Benchmarks
Tracking performance on Spring Joint hardware setting (evaluation)
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-2
X Axis Error (m)
Original Policy
-2.09116
-1.47583
-0.8605
-0.24517
Apr 13, 2026
X Axis Error (m)
Y Axis Error (m)
Yaw Angle Error (deg)
Updated 5d ago
Evaluation Results
Method
Method
Links
X Axis Error (m)
Y Axis Error (m)
Yaw Angle Error (deg)
Original Policy
Command=x +1m/s
2026.04
-2
0.483
40
Finetune w/ Residual Actuator Model
Command=x +1m/s
2026.04
-0.177
0.25
0
Finetune w/ Residual Actuator Model
Command=y +1m/s
2026.04
-0.11
0.21
22
Finetune w/ Residual Actuator Model
Command=x -1m/s
2026.04
-0.051
-0.4
8
Original Policy
Command=yaw -0.3925m/s
2026.04
-0.037
0.22
-11
Finetune w/ Residual Actuator Model
Command=yaw +0.3925m/s
2026.04
0.05
0.051
0
Original Policy
Command=yaw +0.3925m/s
2026.04
0.083
0.121
3
Original Policy
Command=x -1m/s
2026.04
0.154
-2.184
6
Finetune w/ Residual Actuator Model
Command=yaw -0.3925m/s
2026.04
0.17
-0.1
5
Finetune w/ Residual Actuator Model
Command=y -1m/s
2026.04
0.2286
-0.492
13
Original Policy
Command=y -1m/s
2026.04
0.279
-0.898
-6
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