ResearchBenchmarksLoco-manipulation tracking on Unitree G1 (simulation)Loco-manipulation tracking on Unitree G1 (simulation)Follow0.056EmgbpCLOT-0.145521.214742.5753.93526Feb 13, 2026Evaluation resultsMethodMethodLinksEmgbpEmlbpEmgrpEmdpMjtSigma MjtCLOT2026.020.0560.0610.0540.1586.6041.806TWIST22026.025.0940.345.1640.3646.2711.203