ResearchBenchmarksUnitreeA1 locomotion on Loco-MuJoCoUnitreeA1 locomotion on Loco-MuJoCoFollow457AUC0:NSAC-16.824106.188229.2352.212Jun 7, 2026Evaluation resultsMethodMethodLinksAUC0:NTtauFinal ScoreAUC Gain (%)SACTuning=DefaultTuning=Default2026.06457—609—TD3Tuning=DefaultTuning=Default2026.06447—654—PPOTuning=HARBORTuning=HARBOR2026.062.230.582.758.2SACTuning=HARBORTuning=HARBOR2026.061.850.892.2302.6TD3Tuning=HARBORTuning=HARBOR2026.061.851.512.4301.1PPOTuning=DefaultTuning=Default2026.061.478.512.4—