Legged Locomotion on 12 terrain families T1-T12 (2400 episodes)
7.84Success Rate (SVR) (%)Nominal MPC
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Nominal MPC2026.04 | 7.84 | 3.4 | 1 | 2.41 | 0.52 | |
| RL-CBF2026.04 | 5.21 | 3.8 | 1.09 | 2.03 | 0.56 | |
| Safety-MPC2026.04 | 2.91 | 3.1 | 1.18 | 1.54 | 0.63 | |
| Robust-MPC2026.04 | 2.44 | 3 | 1.21 | 1.47 | 0.67 | |
| BarrierNet2026.04 | 1.96 | 3.4 | 1.13 | 1.33 | 0.71 | |
| SafeMind2026.04 | 0.58 | 2.8 | 0.97 | 0.88 | 0.89 |