Robot Locomotion

Benchmarks

Dataset Name	SOTA Method	Metric
Humanoid	PPO	Cumulative Reward5,299	16	4mo ago
Walker v1 (test)	TC-M2TD3	Total Reward2,603.59	12	5mo ago
Humanoid v1 (test)	Oracle M2TD3	Total Score93,123.84	12	5mo ago
Hopper v1 (test)	TC-RARL	Performance Score376.01	12	5mo ago
HalfCheetah v1 (test)	Oracle TC-M2TD3	Score4,273.31	12	5mo ago
Ant v1 (test)	Oracle M2TD3	Performance Score2,370.93	12	5mo ago
Low–Friction Indoor Environment		SVR (%)11.2	5	3mo ago
Brax Humanoid hard-safety (test)	COP-Q	Number of Falls31	4	1mo ago
Brax Ant hard-safety (test)		Number of Falls21	4	1mo ago
Brax Walker2d hard-safety (test)	COP-Q	Number of Falls13	4	1mo ago
Brax Hopper hard-safety (test)	COP-Q	Number of Falls7	4	1mo ago
Robot Locomotion Severe Out-of-Distribution		Mean Reward5.76	4	4mo ago
Robot Locomotion In-Distribution		Mean Reward5	4	4mo ago
Uneven Terrain Walking Random OOD Noise Case II (test)	CMR	Joint Power1,395.6	4	4mo ago
Uneven Terrain Walking Random Noise Case I (test)	CMR	Joint Power1,854.7	4	4mo ago
Walk-to-One-Side Pronk Isaac Gym (simulation)	MS-PPO	RMSE0.466	4	5mo ago
Walk-to-One-Side Trot Isaac Gym (simulation)	PPO-MLP	RMSE0.48	4	5mo ago
SimScape		Stability (Avg)0.73	3	2mo ago
Outdoor Grass under Weather Variation	SafeMind	SVR0.77	3	3mo ago
Uneven Terrain Walking Random OOD (Noise Case II)	-	Joint Power-	0	5mo ago

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