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Legged Locomotion research benchmarks · SOTA2 Research

Legged Locomotion

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

12 terrain families T1-T12 (2400 episodes)

7.84Success Rate (SVR) (%)

6

Apr 13, 2026

fixed-OOD suite (evaluation)

69.3Actuation Performance

5

Jun 4, 2026

Gravel and Soft Soil ANYmal C

4.8SVR (%)

4

Apr 13, 2026

Wrinkled Carpet Experiments

0Trip Incidents

3

Apr 13, 2026

Real-world Obstacles

7.3Distance Moved (m)

2

Feb 26, 2026

Real-world Stairs

4Distance Moved (m)

2

Feb 26, 2026

Real-world Stages

5.4Distance Moved (m)

2

Feb 26, 2026

Popular datasets

Real-world Stages Real-world Stairs Real-world Obstacles Gravel and Soft Soil Terrain families

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