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Papers Benchmarks Datasets Tasks

Humanoid Locomotion research benchmarks – Page 2 · SOTA2 Research

Humanoid Locomotion

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Uneven Terrain & Disturbance Configuration Noise Case II

976.3Joint Power

4

Feb 27, 2026

Uneven Terrain & Disturbance Configurations Noise Case I

1,120.7Joint Power

4

Feb 27, 2026

IsaacGym S2: Wider DR 2048 envs Sim-to-real gap (test)

Joint Torque Space Perturbation Injection

98.4Success Rate

3

Mar 26, 2026

IsaacGym S1: Standard DR Sim-to-real gap 2048 envs (test)

Joint Torque Space Perturbation Injection

99.7Success Rate

3

Mar 26, 2026

TOCABI Humanoid Robot Forward + Rotational Walking (vx = 0.1, wyaw = 0.2) Real Robot Deployment

1.351Joint Velocity

3

Mar 24, 2026

TOCABI Humanoid Robot Forward Walking (vx = 0.25, wyaw = 0.0) Real Robot Deployment

Regularization Reward

1.972Joint Velocity

3

Mar 24, 2026

Gap Terrain (test)

1.373Velocity (m/s)

3

Feb 26, 2026

Obstacle Terrain

2.058Velocity Tracking (m/s)

3

Feb 26, 2026

2.225Velocity Tracking (m/s)

3

Feb 26, 2026

0.412Locomotion Quality

3

Feb 26, 2026

MuJoCo Noise Case I

2.36Command Tracking Error

2

Feb 27, 2026

Locomotion Capability Comparison

—

—Primary metric

0

Jun 4, 2026

Uneven Terrain & Disturbance Configurations Noise Case II v1 (test)

—

—Joint Power

0

Feb 26, 2026

Uneven Terrain & Disturbance Configurations Noise Case I v1 (test)

—

—Joint Power

0

Feb 26, 2026

Page 2 of 2

Popular datasets

Simulation RDT-Bench Uneven Terrain & Disturbance Configurations Isaacgym TOCABI Humanoid Robot

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