Embedded Files
Pixel-based tasks
Learn to eliminate undesirable behaviors
FoG learns to go both left and right, without flipping over. METRA and DoDont flip a lot while LSD learns static skills.
FoG
✅'The agent stands normally', ❌'The agent filps over'
DoDont
METRA+
METRA
LSD
DoDont+
FoG
✅'The agent stands normally', ❌'The agent filps over'
METRA
Learn to avoid hazardous areas
FoG learns to go left, avoiding hazardous areas (right part). METRA and DoDont cannot avoid hazardous areas, going all directions indistinctively.
FoG
✅'ground is blue'
DoDont
FoG
❌'ground is orange'
DoDont
METRA
LSD
METRA
LSD
FoG
✅'ground is blue-green', ❌'ground is pink-purple'
METRA
Learn to twist in Humanoid
FoG learns to move in different directions with twisted behaviors, while METRA learns to move with stretched behaviors.
FoG
✅'The agent is twisted', ❌'The agent is stretched'
METRA
State-based tasks
FoG learns to go both left and right, without flipping over. METRA flips a lot.
FoG
METRA
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