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{\Large {Table Captions}} \\ \\ \\
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\begin{enumerate}

\item Perception system statistics in four separate trials

{\small ``Distance'' represents the distance traveled by the robot
during the trial.
The results vary because the terrain and software modules vary between
trials.  For example, in the 46 m run in hilly terrain,
a module planned vertical body
motions, computing more map points than in the 68 m run
in non-hilly terrain, during
which that module did not execute.}

\item Statistics from selected walking trials

{\small The dash indicates that this data was not recorded.}

\end{enumerate}

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