Isaac-Lab
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Humanoid Reachable Workspace Estimation | Isaac Lab Evaluation Environments 41 | Min Height0.5 | 6 | |
| Push Object | Isaac Lab | Tracking Linear Error (m/s) Mean0.096 | 5 | |
| Push Robot | Isaac Lab | Mean Tracking Linear Error (m/s)0.142 | 5 | |
| Command Track | Isaac Lab | Tracking Linear Error (m/s) Mean0.093 | 5 | |
| Folding | Isaac Lab sim-to-sim transfer (test) | Success Rate92.5 | 4 | |
| Collaborative Transport | Isaac Lab Overall architecture synergy index | Success Rate (SR)83.2 | 4 | |
| Collaborative Transport | Isaac Lab SLH - S33: Pivoting | Success Rate (SR)78.6 | 4 | |
| Collaborative Transport | Isaac Lab SLH - S32: Lateral shuffle | Success Rate (SR)77.3 | 4 | |
| Collaborative Transport | Isaac Lab SLH - S31: Facing mode | Success Rate (SR)84.4 | 4 | |
| Collaborative Transport | Isaac Lab SCT - S23: U-shaped path | Success Rate (SR)81.3 | 4 | |
| Collaborative Transport | Isaac Lab SCT - S22: S-shaped path | Success Rate (SR)82.1 | 4 | |
| Collaborative Transport | Isaac Lab SCT Narrow gate S21 | Success Rate88.6 | 4 | |
| Collaborative Transport | Isaac Lab OSP - S13: Corner entry | Success Rate (SR)77.8 | 4 | |
| Collaborative Transport | Isaac Lab OSP S12 Turnaround | Success Rate83.6 | 4 | |
| Collaborative Transport | Isaac Lab OSP - S11: Alignment | Success Rate87.9 | 4 | |
| Safe Locomotion | Isaac Lab Simulation (coupled uneven terrain, static obstacles, and high-speed dynamic obstacles) | GCR84 | 4 | |
| Human-scene interaction imitation | Isaac Lab (test) | Success Rate76.9 | 3 | |
| Locomotion | Isaac Lab Ant | Final Return195.94 | 3 | |
| Robotic Control | Isaac-Lab Anymal-Velocity-Rough (test) | RE16.09 | 2 | |
| Robotic Control | Isaac-Lab Repose-Cube-Allegro (test) | RE Score32.82 | 2 | |
| Robotic Control | Isaac-Lab Lift-Cube-Franka (test) | RE Metric134 | 2 | |
| Robotic Control | Isaac-Lab Reach-Franka (test) | RE52.5 | 2 | |
| Dexterous humanoid loco-manipulation (picking up an object and performing a 180-degree turn) | Isaac Lab WALKPICKTURN | Success Rate89 | 1 | |
| Dexterous humanoid loco-manipulation (grasping and opening a fridge door while stepping backward) | Isaac Lab OPENFRIDGE | Success Rate66 | 1 | |
| Dexterous humanoid loco-manipulation (grasping and lifting a bottle while walking forward) | Isaac Lab WALKGRAB | Success Rate55 | 1 |
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