ResearchBenchmarksTrot on Go2 Locomotion Full Simple (100 random trials)Follow100Solved Problems CountHippo-4235077Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms) per QPHippo2026.031002.75Hippo(i)2026.031003.13fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310025acados2026.031002.99aligator2026.030—mim_solver2026.030—