ResearchBenchmarksAnymalC locomotion on Loco-MuJoCoAnymalC locomotion on Loco-MuJoCoFollow49.5AUC (0:N)PPO0.588813.286925.98538.6831Jun 7, 2026Evaluation resultsMethodMethodLinksAUC (0:N)TtauFinal ReturnAUC GainPPOTuning=HARBORTuning=HARBOR2026.0649.584.15152271.6PPOTuning=DefaultTuning=Default2026.0613.3—34.3—SACTuning=HARBORTuning=HARBOR2026.066.7246.69.16157.7TD3Tuning=HARBORTuning=HARBOR2026.066.6234.38.12168.1SACTuning=DefaultTuning=Default2026.062.61—3.52—TD3Tuning=DefaultTuning=Default2026.062.47—3.59—