ResearchBenchmarksRobot Locomotion on Uneven Terrain Walking Random OOD Noise Case II (test)Robot Locomotion on Uneven Terrain Walking Random OOD Noise Case II (test)Follow1,395.6Joint PowerCMR893.9484,280.0997,666.2511,052.401Feb 3, 2026Evaluation resultsMethodMethodLinksJoint PowerAction RateAction SmoothnessDoF VelocityDoF AccelerationDistance TraveledCMR2026.021,395.65.96.9123.5316,543.96.2LCP2026.021,771.85.6182157.4390,014.15HIM2026.022,50512.913.3208.7515,972.82.1Naive PPO2026.0213,936.926.25,212.21,168.62,074,2070.09