ResearchBenchmarksRL Motion Imitation on Unitree H1-2 Kung fuRL Motion Imitation on Unitree H1-2 Kung fuFollow398.4Final RewardDDR319.672340.111360.55380.989May 22, 2026Evaluation resultsMethodMethodLinksFinal RewardSteps to 90% RewardDDRReference Type=Direct...Reference Type=Direct Dynamic Retargeting2026.05398.471,600IDRReference Type=Immedia...Reference Type=Immediate Physics Correction2026.05366.895,600GRReference Type=Kinemat...Reference Type=Kinematic Retargeting2026.05322.791,100