ResearchBenchmarksHopping on Locomotion Reduced Hard Go2 (100 random trials)Follow100Solved Problems Countfatrop-4235077Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms) per QPfatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310024.9Hippo(i)2026.03942.86Hippo2026.03912.46aligator2026.03758.97mim_solver2026.032714.29acados2026.030—