ResearchBenchmarksQuadruped Locomotion on Unitree Go2 Robot SimulationQuadruped Locomotion on Unitree Go2 Robot SimulationFollow13.519CostOurs11.8325623.2160334.599545.98297Oct 21, 2025Evaluation resultsMethodMethodLinksCostFootstand SuccessJumpFlip SuccessHandstand SuccessOurs2025.1013.519———Fixed Seq2025.1022.24———PPO-only2025.1034.03———MPPI-Only2025.1046.73———PS-Only2025.1048.39———CEM-Only2025.1055.68———