Stair training: field, test course and baseline

A training field of stair pyramids and pits, and a test course with the layout of the printable course. The existing policies are measured on the course as the baseline.

• Field: 24 × 24 m, 2 m tiles, 56 stair pyramids, 63 pits, 25 flat tiles
• Test course: three steps up and three down on 80 mm treads, one lane per rise
• Baseline, highest rise crossed in at least 8 of 10 trials: Stanford's climbing policy 2 cm, our flat policy 1 cm
• On 240 mm treads the climbing policy crosses 4 cm, so the short treads are the hard part