Unitree G1
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Humanoid control robustness | Unitree G1 1.0 (real-world deployment) | Success Rate93.1 | 10 | |
| Real-world motion tracking | Unitree G1 (Real-world physical robot trials) | Success Rate (SR)10 | 10 | |
| Text-conditioned motion generation | Unitree G1 Text-conditioned motion benchmark | FID6.03 | 7 | |
| Robot Manipulation | Unitree G1 Real-world | T1 Score50 | 7 | |
| Humanoid Locomotion | Unitree G1 Simulation v1 (test) | Max Velocity (m/s)5.9648 | 4 | |
| Robotic target reaching | Unitree G1 real-robot (n=30) (val) | Positional Error (cm)0.7 | 3 | |
| Partial Goal Tracking | Unitree G1 Partial Goal Tracking | Tracking Error0.0423 | 3 | |
| Human-to-Humanoid Motion Retargeting | Unitree G1 (Long sequences) | Success Rate10 | 3 | |
| Human-to-Humanoid Motion Retargeting | Unitree G1 (Medium sequences) | Success Rate41 | 3 | |
| Human-to-Humanoid Motion Retargeting | Unitree G1 (Short sequences) | Success Rate31 | 3 | |
| Gap Crossing | Unitree G1 Real-World 0.25 m width gap 1.0 (test) | Success Rate70 | 3 | |
| Stairs Traversal | Unitree G1 Real-World 0.23 m riser stairs 1.0 (test) | Success Rate80 | 3 | |
| Motion Retargeting | Unitree G1 LAFAN1 (unseen motions) | Eg-mpbpe0.0056 | 2 | |
| Humanoid Loco-Manipulation | Unitree G1 Real-World | Full-task Success (2kg, 0cm)3 | 2 | |
| Sofa-sitting | Unitree G1 Spatially-Sensitive Interaction Tasks | Success Rate70 | 2 | |
| Bag-hitting | Unitree G1 Spatially-Sensitive Interaction Tasks | Success Rate30 | 2 | |
| Box-hugging | Unitree G1 Spatially-Sensitive Interaction Tasks | Success Rate10 | 2 | |
| Humanoid Whole-body Control | Unitree G1 Real-World Tasks | Navigation Success (Long Distance)63.6 | 2 | |
| Loco-manipulation tracking | Unitree G1 (simulation) | Emgbp0.056 | 2 | |
| Stair Ascending | Unitree G1 | Success Rate (%)100 | 1 |
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