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Benchmarks
Humanoid Locomotion on Uneven Terrain & Disturbance Configuration Noise Case II
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976.3
Joint Power
LCP
457.596
3,958.848
7,460.1
10,961.352
Feb 3, 2026
Joint Power
Action Rate
Action Smoothness
DoF Velocity
DoF Acceleration
Distance Traveled
Updated 3d ago
Evaluation Results
Method
Method
Links
Joint Power
Action Rate
Action Smoothness
DoF Velocity
DoF Acceleration
Distance Traveled
LCP
2026.02
976.3
3.3
13.3
83.2
217,245.5
4.9
CMR
2026.02
1,012.3
3.2
3.4
77.8
184,686.9
7.2
HIM
2026.02
1,486.2
8.1
8.6
133.9
372,216
1.3
Naive PPO
2026.02
13,943.9
23.2
4,103.4
1,135.8
1,874,354.3
0.2
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