ResearchBenchmarksHumanoid Locomotion on MuJoCo Noise Case IHumanoid Locomotion on MuJoCo Noise Case IFollow2.36Command Tracking ErrorCMR2.3542.39452.4352.4755Feb 3, 2026Evaluation resultsMethodMethodLinksCommand Tracking ErrorDoF VelocityAction RateJoint PowerCMRTransfer mode=Zero-shotTransfer mode=Zero-shot2026.022.3671.342.671,023.32HIMTransfer mode=Zero-shotTransfer mode=Zero-shot2026.022.5181.092.841,465.43