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| <text x="60" y="110" font-family="Inter,Arial,sans-serif" font-size="18" fill="#374151">Commodity quadruped command-to-outcome benchmark: commands, odometry, built-in LiDAR, bounded ArUco reference, and DecisionTrace regret.</text> |
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| <text x="95" y="205" font-weight="700">Command grid</text><text x="95" y="232">vx, vy, wz, duration</text> |
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| <text x="575" y="205" font-weight="700">Measured outcome</text><text x="575" y="232">odom + LiDAR streams</text> |
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| <text x="845" y="205" font-weight="700">DecisionTrace</text><text x="845" y="232">candidate → score → regret</text> |
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| <text x="100" y="365" font-weight="700">Current public preview</text><text x="100" y="395">116 trials + ArUco subset</text> |
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