ResearchBenchmarksLoco-manipulation tracking on IsaacLab Edge Command SpaceFollow0.11Root Linear Velocity Tracking Error (Ev)ULC0.10440.14220.180.2178Jul 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)ULC2025.070.110.130.030.060.080.070.05AMO2025.070.120.140.050.10.160.150.14R2S22025.070.170.20.070.180.19—0.13HOMIE2025.070.180.220.060.12——0.15FALCON2025.070.240.260.090.16——0.14HOMIE-3-DoF-Waist2025.070.250.280.10.180.280.260.18