ResearchBenchmarksMotion Refinement on OmniRetarget (motions shorter than 9s)Follow74.6Success Rate (%)SBTO36.43246.34156.2566.159Feb 6, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (%)Smoothness ScoreCompute (Absolute)Compute (Relative ηeff)SBTOconfiguration=fullconfiguration=full2026.0274.61.7405,5293.3SBTO_posconfiguration=omitting...configuration=omitting velocity terms2026.0262.12.7444,9243.6SPIDERAlgorithm Type=SBMPCAlgorithm Type=SBMPC2026.0237.93.4123,4961