Jumping on Quadruped Robot
99.8Success RateSRL
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SRL2026.06 | 99.8 | 1.1 | |
| RL-only (PPO)2026.06 | 95.7 | 3.8 | |
| SRLAblation=w/o Velocity Reward2026.06 | 91.2 | 1.6 | |
| SRLAblation=w/o FSM Structure2026.06 | 88.6 | 3.8 | |
| SLIP-based MPC2026.06 | 75.2 | — |