Quadruped Locomotion on Barkour MJX simulation (test) benchmark leaderboard · SOTA2 Research

Quadruped Locomotion on Barkour MJX simulation (test)

2.1CoTSTL-based reward

Evaluation Results

Method	Links
STL-based reward2026.07		2.1	100	100
Heuristic-default2026.07		2.1	100	0
STL-based reward2026.07		1.5	100	100
Heuristic-default2026.07		1.5	100	80
Heuristic-best2026.07		1.4	100	100
Heuristic-best2026.07		1.4	100	100
Heuristic-best2026.07		1.4	100	10
Heuristic-best2026.07		1.4	100	0
Heuristic-default2026.07		1.3	100	0
Heuristic-default2026.07		1.3	100	30
Heuristic-default2026.07		1.3	50	0
Heuristic-default2026.07		1.3	30	0
Heuristic-best2026.07		1.3	100	100
STL-based reward2026.07		1.2	100	100
STL-based reward2026.07		1.2	100	100
Heuristic-default2026.07		1.2	100	30
Heuristic-default2026.07		1.2	50	0
Heuristic-best2026.07		1.2	100	100
Heuristic-best2026.07		1.2	100	100
STL-based reward2026.07		1.1	100	100
STL-based reward2026.07		1.1	100	100
STL-based reward2026.07		1.1	100	100
STL-based reward2026.07		1.1	100	100
Heuristic-default2026.07		1.1	100	10
STL-based reward2026.07		1	100	100
Heuristic-best2026.07		1	100	100
Heuristic-best2026.07		1	100	100