ResearchBenchmarksLocomotion Control Smoothness on IsaacLab-to-MuJoCo Trot sim-to-sim (fine-tuning)Follow88.9Action Rate Reduction (%)SLowRL36.950.463.977.4Mar 17, 2026Evaluation ResultsMethodMethodLinksAction Rate Reduction (%)SLowRLProtocol=Sim-to-Sim, G...Protocol=Sim-to-Sim, Gait=Trot2026.0388.9FFTProtocol=Sim-to-Sim, G...Protocol=Sim-to-Sim, Gait=Trot2026.0338.9