Quadruped Locomotion on Mixed-Adversarial Terrain Transitions T2, T5, T4 (test)
14.8Success Rate (%)Nominal MPC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Nominal MPC2026.04 | 14.8 | 4.1 | 1 | 3.88 | |
| BarrierNet2026.04 | 5.3 | 4.4 | 1.11 | 2.41 | |
| Safety–MPC2026.04 | 3.7 | 4 | 1.18 | 1.97 | |
| Robust–MPC2026.04 | 2.9 | 4.2 | 1.21 | 1.62 | |
| SafeMind2026.04 | 0.77 | 3.3 | 0.95 | 0.89 |