Bar Plot from Scientific Research

Comparison of task performance using metrics for full-state, key-state and irrelevant-state policies of balance recovery, trotting and bounding. Data are presented as mean values +- standard deviation (error bars) of n = 10 samples (scenarios). The dots on top of each bar plot are assigned different colours to distinguish samples from three policies. Higher values of metrics indicate better performance. Details of testing scenarios are in Supplementary Note 3 and Extended Data Fig. 6 . The key-state policies achieved 94.7%, 99.1% and 93.7% of the task performance on average, respectively, with respect to the full-state policies. Irrelevant-state trotting and bounding policies achieve 11.7% and 5.9%, respectively, in forward velocity and 57.3% and 57.3%, respectively, in heading accuracy with respect to full-state policies. Although the selected irrelevant-state balance recovery policy achieves similar performance to full-state and key-state policies, the success rate of learning such policy drops substantially.

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