ResearchBenchmarksStairs Down Traversal on IsaacLab Simulation Hard Terrain DifficultyStairs Down Traversal on IsaacLab Simulation Hard Terrain DifficultyFollow90.23Success Rate (Rsucc)PLANC27.455643.752860.0576.3472Mar 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Rsucc)Traversal Rate (Rtrav)PLANCModality=Height mapModality=Height map2026.0390.2391.65PIEModality=DepthModality=Depth2026.0388.9190.34MoREModality=DepthModality=Depth2026.0372.3673.91GaussGymModality=RGBModality=RGB2026.0370.1571.62GeoLocoModality=RGBModality=RGB2026.0364.7366.15CNNModality=RGBModality=RGB2026.0360.3861.9DreamWaqModality=BlindModality=Blind2026.0329.8732.41