ResearchBenchmarksRobot Locomotion on Uneven Terrain Walking Random Noise Case I (test)Follow1,854.7Joint PowerCMR855.67,599.52514,343.4521,087.375Feb 3, 2026Evaluation ResultsMethodMethodLinksJoint PowerAction RateAction SmoothnessDoF VelocityDoF AccelerationDistance TraveledCMR2026.021,854.73.94.481206,715.16.1LCP2026.022,451.53.8213.6116.6282,3615.6HIM2026.023,523.49.910.1162.4414,386.52.1Naive PPO2026.0226,832.227.55,608.11,230.62,167,369.30.08