# Delay Randomization Widens the Delay Margin of Learned Humanoid Motion Trackers

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/uztmh30p6hvawtlav6wk3ej7o
- Original: https://arxiv.org/abs/2610.32277

## Summary

The study tested motion-tracking policies for a 24-joint humanoid in an independent CPU MuJoCo environment and found that a constant 40 ms command delay reduced the average survival rate from at least 26/30 under training randomization to 15%, with a delay margin of only 20–30 ms.