ResearchBenchmarksStairs-Up Traversal on IsaacLab Simulation Medium Terrain DifficultyStairs-Up Traversal on IsaacLab Simulation Medium Terrain DifficultyFollow91.37Success RatePLANC39.276452.800766.32579.8493Mar 8, 2026Evaluation resultsMethodMethodLinksSuccess RateTraversal RatePLANCModality=Height mapModality=Height map2026.0391.3792.76PIEModality=DepthModality=Depth2026.0390.6392.1GeoLocoModality=RGBModality=RGB2026.0382.7684.09MoREModality=DepthModality=Depth2026.0381.9483.21GaussGymModality=RGBModality=RGB2026.0372.1873.42CNNModality=RGBModality=RGB2026.0359.4260.88DreamWaqModality=BlindModality=Blind2026.0341.2844.1