ResearchBenchmarksCarrying a box on Multi-terrain Interaction Stair + Slope Real-worldCarrying a box on Multi-terrain Interaction Stair + Slope Real-worldFollow100Success Rate (SR)HAIC-4235077Feb 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Emp (Base Position/Path Error Cost)Emp (Overall Cost)Emp (Joint Position/Path Error Cost)Emp (Base Velocity Error Cost)Emp (Base Acceleration Error Cost)Emp (Joint Velocity Error Cost)HAICObservation Mode=Dynam...Observation Mode=Dynamics-aware World Model2026.0210060.6286.5128.54.744.0510.67HDMI*Observation Mode=Propr...Observation Mode=Proprioception-only2026.020126.8701162.35.984.0310.87