ResearchBenchmarksBipedal Locomotion on Real-world Stair Terrain (Height: 20±0.2 cm, Friction: 0.3±0.1) (test)Bipedal Locomotion on Real-world Stair Terrain (Height: 20±0.2 cm, Friction: 0.3±0.1) (test)Follow5Success RateDynaWM2.923.4644.54Jun 23, 2026Evaluation resultsMethodMethodLinksSuccess RateEsmoothDynaWM2026.0650.72CTS2026.0630.91