Article

Delay Randomization Widens the Delay Margin of Learned Humanoid Motion Trackers

The study tested motion-tracking policies for a 24-joint humanoid in an independent CPU MuJoCo environment and found that a constant 40 ms command delay reduced the average survival rate from at least 26/30 under training randomization to 15%, with a delay margin of only 20–30 ms.

Part of the event: Delayed Randomization Broadens Latency Margin of Humanoid Motion Trackers

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