ResearchBenchmarksHumanoid Motion Generation on BABEL (val)Humanoid Motion Generation on BABEL (val)Follow3.08JVSafeFlow1.477612.293823.1133.9262Mar 25, 2026Evaluation resultsMethodMethodLinksJVSCSuccess RateEmpjpeEvelEaccSafeFlowvariant=+ Guid. & Reflowvariant=+ Guid. & Reflow2026.033.081.4298.540.890.094.54SafeFlowvariant=+ Guid.variant=+ Guid.2026.036.324.399846.390.115.48SafeFlowvariant=Flowvariant=Flow2026.0312.757.2592.755.320.177.98TextOp2026.0343.1411.0580.681.420.2310.61