Foothold Reachability Check on Hexapod Confined Planning Scenes
2.58Average Time (ms)KCFRC(conv)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| KCFRC(conv)Variant=convolutional guiding surface2026.02 | 2.58 | 4.07 | 99.3 | 99.9 | 97.4 | |
| FECTraj Space=Euclidean, Resolution=502026.02 | 10.226 | 36.722 | 94.8 | 100 | 79.6 | |
| KCFRC(key)Variant=keypoint-weighted guiding surface2026.02 | 50.574 | 78.74 | 99.6 | 99.8 | 98.6 | |
| RRT-CMax Time=50us2026.02 | 209.6 | 948.055 | 97.2 | 100 | 88.9 | |
| RRT-CMax Time=1ms2026.02 | 303.257 | 1,085.29 | 99.8 | 100 | 99.2 | |
| STOMPResolution=20, Max Iters=1002026.02 | 796.161 | 5,099.62 | 97.6 | 99.9 | 90.8 | |
| Ground TruthDescription=Exhaustive RRT baseline2026.02 | 827.852 | 18,941.2 | 100 | 100 | 100 |