ResearchBenchmarksTrot on Locomotion Reduced Simple Go2 (100 random trials)Follow100Solved Problems CountHippo95.8496.929899.08Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms) per QPHippo2026.031002.35Hippo(i)2026.031002.93fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310024.9acados2026.031002.86mim_solver2026.039813.37aligator2026.03968.68