ResearchBenchmarksHumanoid Control on HumanoidBenchFollow927.47Walk ScoreMVR-35.3932214.5809464.555714.5291Mar 2, 2026Evaluation ResultsMethodMethodLinksWalk ScoreRun ScoreStair Climbing ScoreSlide ScoreStand ScoreSimple Sit ScoreHard Sit ScoreSimple Balance ScoreHard Balance ScoreMVRReward Type=Task-speci...Reward Type=Task-specific + VLM-based rewards2026.03927.47749.23208.6735.03918.55861.07756.67299.8795.78FuRLReward Type=Task-speci...Reward Type=Task-specific + VLM-based rewards, Update Schedule=Adjusted for scalability (comparable to MVR)2026.031.6413.324.4119.7430.15196.1524.5621.3215.67