HumanoidBench
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Humanoid Locomotion and Manipulation | HumanoidBench | IQM0.898 | 28 | |
| Continuous Control | HumanoidBench (w/ Hand) | Return (Slide)733 | 12 | |
| Continuous Control | HumanoidBench without dexterous hands | Pole Score893 | 8 | |
| Continuous Control | HumanoidBench Hand | Total Reward580 | 8 | |
| Continuous Control | HumanoidBench No Hand | Total Reward590 | 8 | |
| Continual Reinforcement Learning | HumanoidBench CRL | Mean Score53 | 7 | |
| Locomotion | HumanoidBench 1.0 (test) | Balance Hard145.95 | 7 | |
| Robotic Control | HumanoidBench (test) | Balance Hard Score92 | 6 | |
| Humanoid Robot Control | HumanoidBench (test) | Walk Score927.47 | 5 | |
| h1hand-reach | HumanoidBench Hard 1M | Score5,353.093 | 5 | |
| h1hand-balance hard | HumanoidBench Hard 1M | Score72.918 | 5 | |
| h1hand-balance simple | HumanoidBench Hard 1M | Score101.26 | 5 | |
| h1hand-sit hard | HumanoidBench Hard 1M | Score805.502 | 5 | |
| h1hand-sit simple | HumanoidBench Hard 1M | Score926.804 | 5 | |
| h1hand-maze | HumanoidBench Hard 1M | Score380.642 | 5 | |
| h1hand-pole | HumanoidBench Hard 1M | Score841.353 | 5 | |
| h1hand-slide | HumanoidBench Hard 1M | Score535.404 | 5 | |
| h1hand-crawl | HumanoidBench Hard 1M | Score897.086 | 5 | |
| h1hand-stair | HumanoidBench Hard 1M | Score380.349 | 5 | |
| h1hand-run | HumanoidBench Hard 1M | Score818.397 | 5 | |
| h1hand-walk | HumanoidBench Hard 1M | Score919.96 | 5 | |
| h1hand-stand | HumanoidBench Hard 1M | Score891.78 | 5 | |
| Humanoid Control | HumanoidBench Medium 1M | Standing Score841.246 | 5 | |
| Continual Reinforcement Learning | HumanoidBench First Five Tasks Stand Walk Pole Slide Run (final checkpoint after five-task sequence) | Average Success Rate25 | 2 | |
| Humanoid robot control | HumanoidBench | Walk Score927.47 | 2 |
Showing 25 of 27 rows