Scalable Zero-Shot Skill Transition Learning

STG-Net: Skill Transition Graph Network for legged locomotion with attention-based terrain encoding and curriculum training.

0.982

Test TSR (STG-Net)

0.899

Test STGI

0.006

TSR Gen. Gap

0.803

Foothold Precision

Methods Compared

Transition Success Rate (TSR) by Method

Method	Train TSR	Test TSR	TSR Gap	Train STGI	Test STGI	Foothold	Vel Track
STG-Net (Full)	0.9883	0.9821	0.0062	0.9228	0.8987	0.8026	0.8279
Attention + Curriculum	0.9883	0.9184	0.0699	0.9016	0.8456	0.7536	0.7919
Oracle Finetune	0.9213	0.9032	0.0181	0.8981	0.8680	0.8176	0.8479
Attention Map Encoder	0.8832	0.7779	0.1053	0.8315	0.7578	0.7136	0.7619
Baseline MLP	0.7195	0.5521	0.1674	0.6972	0.5924	0.5976	0.6679

Difficulty Bin	Baseline MLP	Attention	Attn+Curriculum	STG-Net
0.0-0.2 (Easy)	0.763	0.897	0.950+	0.990+
0.2-0.4	0.729	0.892	0.940+	0.985+
0.4-0.6	0.651	0.848	0.910+	0.975+
0.6-0.8 (Hard)	0.334	0.700+	0.850+	0.950+