ResearchBenchmarksBipedal Locomotion on Real-world Stair Terrain (H: 16±0.8cm, μ: 0.65±0.1) (test)Bipedal Locomotion on Real-world Stair Terrain (H: 16±0.8cm, μ: 0.65±0.1) (test)Follow5Success RateDynaWM3.964.234.54.77Jun 23, 2026Evaluation resultsMethodMethodLinksSuccess RateEsmoothDynaWM2026.0650.58CTS2026.0640.79