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Benchmarks
Quadrupedal Locomotion on Quadrupedal Locomotion Simulation
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0.17
Planar Base Velocity RMSE (m/s)
LP
0.1552
0.2551
0.355
0.4549
Jun 14, 2026
Planar Base Velocity RMSE (m/s)
Achieved Terrain Level
Flat Terrain Cost of Transport (COT)
Operational Limit Violation Rate (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Planar Base Velocity RMSE (m/s)
Achieved Terrain Level
Flat Terrain Cost of Transport (COT)
Operational Limit Violation Rate (%)
LP
Oper. limit constraint...
2026.06
0.17
3.72
1.18
0.86
LEP
Oper. limit constraint...
2026.06
0.19
3.11
0.28
0.5
RP
Oper. limit constraint...
2026.06
0.22
3
0.64
13.3
LCEP
Oper. limit constraint...
2026.06
0.23
2.65
0.43
0.9
LCP
Oper. limit constraint...
2026.06
0.26
3.33
0.94
0.66
EP
Oper. limit constraint...
2026.06
0.35
2.5
1.53
53.4
LE
Oper. limit constraint...
2026.06
0.54
1.4
-
1.4
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