HORIZON is a recoverability-governed checkpointed frontier curriculum for on-policy physical-domain scaling on quadruped locomotion that identifies three regularities: uneven widening, non-monotonic composition, and the necessity of joint on-policy interaction.
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HORIZON: Recoverability-Governed Curriculum for Physical-Domain Scaling
HORIZON is a recoverability-governed checkpointed frontier curriculum for on-policy physical-domain scaling on quadruped locomotion that identifies three regularities: uneven widening, non-monotonic composition, and the necessity of joint on-policy interaction.