ResearchBenchmarksRL Motion Imitation on Unitree H1-2 SquatRL Motion Imitation on Unitree H1-2 SquatFollow374.8Final RewardIDR304.288322.594340.9359.206May 22, 2026Evaluation resultsMethodMethodLinksFinal RewardSteps to 90% RewardIDRReference Type=Immedia...Reference Type=Immediate Physics Correction2026.05374.838,200DDRReference Type=Direct...Reference Type=Direct Dynamic Retargeting2026.05363.221,100GRReference Type=Kinemat...Reference Type=Kinematic Retargeting2026.0530741,300