ResearchBenchmarksSingle-trajectory motion-tracking on Walk skill trajectorySingle-trajectory motion-tracking on Walk skill trajectoryFollow70,036,000Successful Samples Count (SR >= 80%)ADD56,404,72059,943,61063,482,50067,021,390Feb 4, 2026Evaluation resultsMethodMethodLinksSuccessful Samples Count (SR >= 80%)Position Error (m)Rotation Error (rad)ADDLength=1.03Length=1.032026.0270,036,0000.0080.038PDF-HRLength=1.03Length=1.032026.0256,929,0000.0090.042