Table 1: Tasks Definition. The "Type" means different capabilities of robots. The "Level" devides the difficulty into 3 levels. The "Skill" means different skill/task categories. The "Episode" signifies the number of experiments conducted for each task, which also corresponds to the number of trajectories. The "Description" is the illustration of the tasks.

Fig. 2: Statistic analysis of QUARD. 1) Simulation data accounts for a larger proportion compared to real data. 2) Trotting occupied most of the share of gait. 3) Most tasks own similar episodes while Distinguish Letter and Go to Object (in reality) owns much less. 4) 3 types of speed occupied 1/3 separately.

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