 In addition to learning approaches, we also compare to an inverse-kinematics (IK) based footstep planner , and show that our fully-learned framework is competitive in performance with IK under normal conditions, and outperforms it in adverse settings .
<clarity>  In addition to learning approaches, we also compare to an inverse-kinematics (IK) based footstep planner , and show that our fully-learned framework is competitive in performance with IK under normal conditions, and outperforms it in adverse settings .
 In addition to learning approaches, we also compare to an inverse-kinematics (IK) acting on planned footsteps , and show that our fully-learned framework is competitive in performance with IK under normal conditions, and outperforms it in adverse settings .