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Benchmarks
Humanoid Locomotion on Uneven Terrain & Disturbance Configurations Noise Case I
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1,120.7
Joint Power
CMR
620.796
3,995.148
7,369.5
10,743.852
Feb 3, 2026
Joint Power
Action Rate
Action Smoothness
Dof Vel
Dof Acc
Distance
Updated 1mo ago
Evaluation Results
Method
Method
Links
Joint Power
Action Rate
Action Smoothness
Dof Vel
Dof Acc
Distance
CMR
2026.02
1,120.7
4.1
4.5
84.5
213,465.3
7
LCP
2026.02
1,333.3
4.1
164.8
113.1
282,492.8
5.8
HIM
2026.02
1,971.9
10.6
10.8
170.4
430,428.8
2.3
Naive PPO
2026.02
13,618.3
27
5,431.7
1,203.9
2,128,629
0.1
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