ResearchBenchmarksText-driven Physics-Based Humanoid Control on HumanML3D (test)Text-driven Physics-Based Humanoid Control on HumanML3D (test)Follow15.584Floating Error (mm)Phys-GT14.85865619.75472824.650829.546872May 25, 2026Evaluation resultsMethodMethodLinksFloating Error (mm)Jerk (mm/frame^3)Phys-GT2026.0515.5842.7172MIND2026.0517.11732.5966CLoSD2026.0519.295812.0022UniPhys2026.0520.48533.6054PDP2026.0524.85116.5476Kimodo++2026.0533.717610.2709