ResearchBenchmarksStairs-Up Traversal on IsaacLab Simulation Hard Terrain DifficultyStairs-Up Traversal on IsaacLab Simulation Hard Terrain DifficultyFollow86.12Success Rate (Rsucc)PLANC8.244828.462448.6868.8976Mar 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Rsucc)Traversal Rate (Rtrav)PLANCModality=Height mapModality=Height map2026.0386.1287.54PIEModality=DepthModality=Depth2026.0384.7886.25MoREModality=DepthModality=Depth2026.0370.4171.88GeoLocoModality=RGBModality=RGB2026.0366.2767.91GaussGymModality=RGBModality=RGB2026.0349.4251.88CNNModality=RGBModality=RGB2026.0328.1130.19DreamWaqModality=BlindModality=Blind2026.0311.2413.06