ResearchBenchmarksRobot 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