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ResearchFormerly WizWand

Quadruped Locomotion

Benchmarks

DatasetSOTA methodMetricTrendResultsLast updated

Barkour MJX simulation (test)

STL-based reward

2.1CoT

27

Jul 2, 2026

Slippery Slope real-world evaluation

1.82Forward Progression

15

Mar 18, 2026

Foam real-world (evaluation)

3Forward Progression Distance

12

Mar 18, 2026

Morphology Variation and Structural Disturbance

16.2SVR (%)

6

Apr 13, 2026

Unitree Go2 Robot Simulation

13.519Cost

6

Mar 9, 2026

Mixed-Adversarial Terrain Transitions T2, T5, T4 (test)

14.8Success Rate (%)

5

Apr 13, 2026

Unitree Go2 simulation IsaacLab (1,250 trials)

94.8Average Return

4

Feb 26, 2026

Real-world Crawl 25cm

100Success Rate

3

Apr 6, 2026

Real-world Tilt 33cm

80Success Rate

3

Apr 6, 2026

Real-world Climb 52cm

100Success Rate

3

Apr 6, 2026

Real-world Stair 16cm

100Success Rate

3

Apr 6, 2026