Evaluation

Reinforcement Learning for Robust Legged Locomotion

Training and robustness evaluation for locomotion policies under terrain, sensing, and dynamics shift, using identified failure modes to define targeted evaluation and curriculum scenarios.

Physical deployment, robustness evaluation and failure analysis, and large-scale GPU simulation.

Tracing advantage collapse in RL post-training

A measurement plan for locating where useful variation disappears between reward, advantage estimation, and policy updates.