ResearchBenchmarksHumanoid Locomotion on Uneven Terrain & Disturbance Configurations Noise Case IHumanoid Locomotion on Uneven Terrain & Disturbance Configurations Noise Case IFollow1,120.7Joint PowerCMR620.7963,995.1487,369.510,743.852Feb 3, 2026Evaluation resultsMethodMethodLinksJoint PowerAction RateAction SmoothnessDof VelDof AccDistanceCMR2026.021,120.74.14.584.5213,465.37LCP2026.021,333.34.1164.8113.1282,492.85.8HIM2026.021,971.910.610.8170.4430,428.82.3Naive PPO2026.0213,618.3275,431.71,203.92,128,6290.1