ResearchBenchmarksHopping on Go2 Locomotion Reduced Simple (100 random trials)Follow100Solved Problems (%)Hippo-4235077Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems (%)Average Latency (ms)Hippo2026.031002.35Hippo(i)2026.031002.89fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310024.3aligator2026.03928.58mim_solver2026.037915.42acados2026.030—