ResearchBenchmarksUnitreeH1 locomotion on Loco-MuJoCoUnitreeH1 locomotion on Loco-MuJoCoFollow617AUC0:NSAC140.68264.34388511.66Jun 7, 2026Evaluation resultsMethodMethodLinksAUC0:NTtauFinal ReturnGain AUCSACTuning=HARBORTuning=HARBOR2026.0661763.22911205.7TD3Tuning=HARBORTuning=HARBOR2026.0651054.32828220PPOTuning=HARBORTuning=HARBOR2026.0645060.16767145.8SACTuning=DefaultTuning=Default2026.06202—333—PPOTuning=DefaultTuning=Default2026.06183—431—TD3Tuning=DefaultTuning=Default2026.06159—257—