ResearchBenchmarksHopping on Go2 Locomotion Full Simple (100 random trials)Follow100Solved Problems CountHippo-4235077Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms/QP)Hippo2026.031002.57Hippo(i)2026.031002.93fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310023.6acados2026.031002.97aligator2026.030—mim_solver2026.030—