ResearchBenchmarksHumanoid Locomotion on Unitree G1 Locomotion Isaac Gym (Simulation)Humanoid Locomotion on Unitree G1 Locomotion Isaac Gym (Simulation)Follow0.79Average StridePCHC0.40520.50510.6050.7049Mar 25, 2026Evaluation resultsMethodMethodLinksAverage StrideTrajectory DeviationPCHCPreference=(0.00, 1.00)Preference=(0.00, 1.00)2026.030.790.85PCHCPreference=(0.25, 0.75)Preference=(0.25, 0.75)2026.030.720.51PCHCPreference=(0.50, 0.50)Preference=(0.50, 0.50)2026.030.670.33Baseline2026.030.590.46PCHCPreference=(0.75, 0.25)Preference=(0.75, 0.25)2026.030.550.29PCHCPreference=(0.10, 0.00)Preference=(0.10, 0.00)2026.030.420.23