ResearchBenchmarksLocomotion Control Smoothness on IsaacLab-to-MuJoCo Jump sim-to-sim (fine-tuning)Follow35.7Action Rate ReductionSLowRL4.512.620.728.8Mar 17, 2026Evaluation ResultsMethodMethodLinksAction Rate ReductionSLowRLProtocol=Sim-to-Sim, G...Protocol=Sim-to-Sim, Gait=Jump2026.0335.7FFTProtocol=Sim-to-Sim, G...Protocol=Sim-to-Sim, Gait=Jump2026.035.7