ResearchBenchmarksFollow skill on Custom Humanoid Simulation Environment (test)Follow100Success RateTokenHSI94.896.1597.598.85Apr 22, 2026Evaluation ResultsMethodMethodLinksSuccess RateTokenHSIindependent random see...independent random seeds=10, total trials=1002026.04100ALASindependent random see...independent random seeds=10, total trials=1002026.0498CMLindependent random see...independent random seeds=10, total trials=1002026.0495