Table 2.

Maximum running velocity for different models and total achieved distance in the dynamic terrain

system	H0918	H1622	H2190	MyoLeg
max velocity	$5.38$	$5.04$	$6.49$	$5.44$
achieved distance	n.a.	$9.87\pm 4.27$	$10.45\pm 4.77$	n.a.

Velocities are expressed in ^m/_s, the terrain is related to Figure S3. We show the maximum speed over 20 roll-outs for each model. We do not examine this environment for the H0918 model, as the 3D nature of the terrain is not applicable to it, and not for the MyoLegV0 model, as the terrain was not implemented yet in the MuJoCo engine when the experiments were conducted.