Quadrupedal Locomotion on Quadrupedal Locomotion Simulation
0.17Planar Base Velocity RMSE (m/s)LP
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| LPOper. limit constraints=true, Gait-prior encoding=None, Energy minimization=false, Perception (elevation map)=true2026.06 | 0.17 | 3.72 | 1.18 | 0.86 | |
| LEPOper. limit constraints=true, Gait-prior encoding=None, Energy minimization=true, Perception (elevation map)=true2026.06 | 0.19 | 3.11 | 0.28 | 0.5 | |
| RPOper. limit constraints=false, Gait-prior encoding=Reward, Energy minimization=false, Perception (elevation map)=true2026.06 | 0.22 | 3 | 0.64 | 13.3 | |
| LCEPOper. limit constraints=true, Gait-prior encoding=Constraint, Energy minimization=true, Perception (elevation map)=true2026.06 | 0.23 | 2.65 | 0.43 | 0.9 | |
| LCPOper. limit constraints=true, Gait-prior encoding=Constraint, Energy minimization=false, Perception (elevation map)=true2026.06 | 0.26 | 3.33 | 0.94 | 0.66 | |
| EPOper. limit constraints=false, Gait-prior encoding=None, Energy minimization=true, Perception (elevation map)=true2026.06 | 0.35 | 2.5 | 1.53 | 53.4 | |
| LEOper. limit constraints=true, Gait-prior encoding=None, Energy minimization=true, Perception (elevation map)=false2026.06 | 0.54 | 1.4 | — | 1.4 |