ResearchBenchmarksLocomotion on HumanoidBenchLocomotion on HumanoidBenchFollow327.2Door Navigation ScoreCIR292.984301.867310.75319.633Feb 12, 2026Evaluation resultsMethodMethodLinksDoor Navigation ScoreHigh Bar Traversal Score (Simple)Reaching ScoreRunning ScoreSitting Score (Simple)Sitting Score (Hard)CIR2026.02327.2512.85,776.6193.7856.9678.5SimBa2026.02294.34915,581.731755.5559.4