ResearchBenchmarksWhole-Body Locomotion on Forward Walk gait Experimental (val)Follow4RMSE xCoM (mm)SLOT3.83.944.1Feb 18, 2026Evaluation ResultsMethodMethodLinksRMSE xCoM (mm)RMSE zCoM (mm)SLOTGait=Forward WalkGait=Forward Walk2026.0244.8