How to reproduce 0.44m/s "Restricted"?

[YouJiacheng]

Dear author: Thanks a lot for inventing APRL and open sourcing an official implementation.

I have a question about the performance of "Restricted". Fig 3 in [46]Demonstrating a walk in the park: Learning to walk in 20 minutes with model-free reinforcement learning showed that robot can move on the flat ground at an average speed of 0.06m/s after 20min. Fig 6. in the APRL paper showed that robot can move on the flat ground at an average speed of 0.44m/s after 20min.

There is a 7x difference. I have noticed that the APRL paper used Go1 while [46] used A1, and different velocity measurement might be applied (tracking camera vs. Kalman filter). I want to know if there is any other difference between "Restricted" and [46].

Thanks!