ResearchBenchmarksRobotic Locomotion on OOD Terrains Simulation (test)Robotic Locomotion on OOD Terrains Simulation (test)Follow77Success RateOurs55.99261.44666.972.354Apr 3, 2026Evaluation resultsMethodMethodLinksSuccess RateSurvival RateTracking Error (m/s)Power (W)Ours2026.047778.50.16958.5CNN2026.0469.870.80.24960.2Attn2026.0464.268.70.24360.2MLP2026.0458.762.10.26869.3Transf.2026.0456.8570.22978.7