ResearchBenchmarksHumanoid Locomotion on Uneven Terrain & Disturbance Configuration Noise Case IIHumanoid Locomotion on Uneven Terrain & Disturbance Configuration Noise Case IIFollow976.3Joint PowerLCP457.5963,958.8487,460.110,961.352Feb 3, 2026Evaluation resultsMethodMethodLinksJoint PowerAction RateAction SmoothnessDoF VelocityDoF AccelerationDistance TraveledLCP2026.02976.33.313.383.2217,245.54.9CMR2026.021,012.33.23.477.8184,686.97.2HIM2026.021,486.28.18.6133.9372,2161.3Naive PPO2026.0213,943.923.24,103.41,135.81,874,354.30.2