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Benchmarks
Humanoid Control on Humanoid Control Root (test)
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58.7
Success Rate
ReFPO*-1step
28.644
36.447
44.25
52.053
Jun 19, 2026
Success Rate
Alive Duration
MPJPE
Updated 1mo ago
Evaluation Results
Method
Method
Links
Success Rate
Alive Duration
MPJPE
ReFPO*-1step
Goal conditioning=Root
2026.06
58.7
156.45
70.89
ReFPO*
Goal conditioning=Root
2026.06
58.2
156.37
70.97
FPO-1step
Goal conditioning=Root
2026.06
55.3
147.9
72.65
FPO
Goal conditioning=Root
2026.06
55
147.94
73.55
Gaussian PPO
Goal conditioning=Root
2026.06
29.8
114.06
123.7
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