ResearchBenchmarksHumanoid Tracking on terrain interactionHumanoid Tracking on terrain interactionFollow0.1363Joint Error (rad)SceneBot0.1281920.1829210.237650.292379Jun 25, 2026Evaluation resultsMethodMethodLinksJoint Error (rad)Root Position Error (m)Root Orientation Error (rad)Success RateSceneBotvariation=No foot labelvariation=No foot label2026.060.13630.15620.11985No label2026.060.13780.31030.28960No foot label2026.060.13920.28340.260960SceneBot2026.060.14060.14710.1017100Local2026.060.19180.43440.417845SONIC2026.060.3390.8080.804615