ResearchBenchmarksUnitreeGo2 locomotion on Loco-MuJoCoUnitreeGo2 locomotion on Loco-MuJoCoFollow398AUC 0:NTD3-14.04892.926199.9306.874Jun 7, 2026Evaluation resultsMethodMethodLinksAUC 0:NTtau (Time Constant)Final ReturnGain AUCTD3Tuning=DefaultTuning=Default2026.06398—553—SACTuning=DefaultTuning=Default2026.06386—559—PPOTuning=HARBORTuning=HARBOR2026.062.521.52.90.371SACTuning=HARBORTuning=HARBOR2026.062.415.562.75.167TD3Tuning=HARBORTuning=HARBOR2026.062.322.122.74.702PPOTuning=DefaultTuning=Default2026.061.853.452.8—