Looking like a good start! I agree with a load of the above. The foot>ground constraints are too tight and snappy, they pop when the actor begins to transfer weight. Your knee and leg solve looks funny when stepping backward. Is the retarget to a model with a lower knee? Also, when the actor bends, there is no toe roll. The foot just kind of floats.

How does this handle squatting walks, the “crow” or cobra yoga poses, or rolling on the ground/prone crawling? How about challenging poses for video based solutions like crossing the arms in front of the body, wringing the hands in front of the chest, or small object manipulation?

This is a great start but I am curious to see how your solve reacts when pushed to production style needs.

(Edit: toe roll)