Quadruped Locomotion on Morphology Variation and Structural Disturbance
16.2SVR (%)Nominal MPC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Nominal MPC2026.04 | 16.2 | 6.4 | 1 | 58.1 | |
| BarrierNet2026.04 | 8.3 | 6.1 | 1.11 | 72.4 | |
| Safety–MPC2026.04 | 5.6 | 5.4 | 1.14 | 78.6 | |
| Distributional RL2026.04 | 4.1 | 6.8 | 1.21 | 74.2 | |
| Ensemble–CBF2026.04 | 3.7 | 5.9 | 1.17 | 81 | |
| SafeMind2026.04 | 1.12 | 4.3 | 0.98 | 92.7 |