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ResearchFormerly WizWand

Quadruped Locomotion Robustness on Mixed Velocity Quadruped Locomotion (Evaluation Rollouts)

1.07Cost of Trajectory (CoT)STL-based unified model
1.01081.41041.812.2096Jul 1, 2026
Updated 4mo ago

Evaluation results

MethodLinks
STL-based unified modelvx (Forward velocity)=1.60, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.07100100
STL-based unified modelvx (Forward velocity)=1.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.1100100
STL-based unified modelvx (Forward velocity)=1.90, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.11100100
STL-based unified modelvx (Forward velocity)=2.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.1210080
STL-based unified modelvx (Forward velocity)=2.10, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.131000
STL-based unified modelvx (Forward velocity)=1.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.21100100
STL-based unified modelvx (Forward velocity)=0.70, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.24100100
STL-based unified modelvx (Forward velocity)=0.50, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.46100100
Heuristic-best modelvx (Forward velocity)=2.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.691000
Heuristic-best modelvx (Forward velocity)=2.10, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.69900
Heuristic-best modelvx (Forward velocity)=1.90, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.721000
Heuristic-best modelvx (Forward velocity)=1.00, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.74100100
Heuristic-best modelvx (Forward velocity)=1.60, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.74100100
Heuristic-best modelvx (Forward velocity)=1.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.76100100
Heuristic-best modelvx (Forward velocity)=0.70, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.83100100
STL-based unified modelvx (Forward velocity)=0.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.071.87100100
Heuristic-best modelvx (Forward velocity)=0.50, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.072.1110035
Heuristic-best modelvx (Forward velocity)=0.30, Lateral-velocity (vy) range=[-0.4, 0.4] m/s, Yaw-rate (wz) range=[-0.4, 0.4] rad/s, Horizon=500 time steps, Rollouts=202026.072.551000