ResearchBenchmarksCarrying a box on Multi-terrain Interaction Real-world (Stair)Carrying a box on Multi-terrain Interaction Real-world (Stair)Follow100Success Rate (SR)HDMI*9597.5100102.5Feb 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)End-effector Position Error (Best Estimate)End-effector Orientation Error (Best Estimate)End-effector Joint Position Error (Best Estimate)End-effector Velocity Error (Best Estimate)End-effector Acceleration Error (Best Estimate)End-effector Joint Velocity Error (Best Estimate)HDMI*Observation Mode=Propr...Observation Mode=Proprioception-only2026.0210066.2316.2158.94.794.3510.1HAICObservation Mode=Dynam...Observation Mode=Dynamics-aware World Model2026.0210055.5331.2118.44.064.058.66