Before revision:  In addition to learning approaches, we also compare to inverse-kinematics (IK) acting on planned footsteps , and show that our fully-learned framework outperforms IK in adverse settings on both A1 and Daisy simulations.
After revision:  In addition to learning approaches, we also compare to inverse-kinematics (IK) acting on desired robot motion , and show that our fully-learned framework outperforms IK in adverse settings on both A1 and Daisy simulations.