ResearchBenchmarksGap Traversal on IsaacLab Simulation Hard Terrain DifficultyGap Traversal on IsaacLab Simulation Hard Terrain DifficultyFollow64.37Success Rate (Rsucc)PLANC-2.574814.805132.18549.5649Mar 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Rsucc)Traversal Rate (Rtrav)PLANCModality=Height mapModality=Height map2026.0364.3765.88PIEModality=DepthModality=Depth2026.0361.5262.89MoREModality=DepthModality=Depth2026.0354.8656.2GeoLocoModality=RGBModality=RGB2026.0349.6251.08GaussGymModality=RGBModality=RGB2026.0324.8625.72CNNModality=RGBModality=RGB2026.0317.8619.4DreamWaqModality=BlindModality=Blind2026.0300