ResearchBenchmarksLoco-manipulation tracking on IsaacLab Command MutationLoco-manipulation tracking on IsaacLab Command MutationFollow0.12Root Linear Velocity Tracking Error (Ev)ULC0.11280.16140.210.2586Jul 9, 2025Evaluation resultsMethodMethodLinksRoot Linear Velocity Tracking Error (Ev)Root Angular Velocity Tracking Error (Ew)Root Height Tracking Error (Eh)Root Yaw Orientation Tracking Error (Ey)Root Pitch Orientation Tracking Error (Ep)Root Roll Orientation Tracking Error (Er)Arm Joint Position Tracking Error (Ea)ULC2025.070.120.140.030.070.090.080.06AMO2025.070.140.160.060.140.220.20.18R2S22025.070.20.230.080.220.2—0.17FALCON2025.070.260.290.10.18——0.16HOMIE2025.070.280.320.120.2——0.22HOMIE-3-DoF-Waist2025.070.30.350.140.240.320.30.24