Go2
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Inertial Odometry | Go2 | ATE (m)1.03 | 10 | |
| Full Pipeline | Go2 12 | Speedup7.8 | 8 | |
| Articulated-Body Algorithm (ABA) | Go2 12 | Speedup8.1 | 8 | |
| Composite Rigid Body Algorithm (CRBA) | Go2 12 | Speedup6.5 | 8 | |
| Recursive Newton-Euler Algorithm (RNEA) | Go2 12 | Speedup6.9 | 8 | |
| Forward Kinematics (FK) | Go2 | Speedup73 | 8 | |
| Rigid Body Dynamics | Go2 12 DOF | FK Factor55 | 8 | |
| Mass Generalization | Go2 1.5–2.0× mass | Retention Rate82.9 | 6 | |
| Jacobian (Jac.) | Go2 12 | Speedup73 | 4 | |
| Jacobian Computation (Jac.) | Go2 | Speedup90 | 4 | |
| Joystick Flat | Go2 | Wall-clock Training Time (min)1.1 | 4 | |
| Future state prediction | Go2 (test) | Prediction Horizon200 | 2 |
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