ResearchBenchmarksStairs Down Traversal on IsaacLab Simulation Medium Terrain DifficultyStairs Down Traversal on IsaacLab Simulation Medium Terrain DifficultyFollow94.05Success Rate (Rsucc)PLANC60.437269.163677.8986.6164Mar 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Rsucc)Traversal Rate (Rtrav)PLANCModality=Height mapModality=Height map2026.0394.0595.44PIEModality=DepthModality=Depth2026.0393.2294.58GeoLocoModality=RGBModality=RGB2026.0385.3386.62MoREModality=DepthModality=Depth2026.0384.185.67GaussGymModality=RGBModality=RGB2026.0375.2676.61CNNModality=RGBModality=RGB2026.0370.3571.9DreamWaqModality=BlindModality=Blind2026.0361.7364.95