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Benchmarks
Humanoid Locomotion on Unitree G1 Simulation v1 (test)
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5.9648
Max Velocity (m/s)
SPRINT
3.8224
4.3786
4.9348
5.491
May 27, 2026
Max Velocity (m/s)
Convergence Time (h) [vx_cmd in [0, 4] m/s]
Convergence Time (h) [vx_cmd in [0, 5] m/s]
Convergence Time (h) [vx_cmd in [0, 6] m/s]
FID
Eqpos
Evel
Updated 6d ago
Evaluation Results
Method
Method
Links
Max Velocity (m/s)
Convergence Time (h) [vx_cmd in [0, 4] m/s]
Convergence Time (h) [vx_cmd in [0, 5] m/s]
Convergence Time (h) [vx_cmd in [0, 6] m/s]
FID
Eqpos
Evel
SPRINT
2026.05
5.9648
3
4.5
6.5
0.8035
0.1868
0.0657
AI-CPG
2026.05
4.8208
9
14
-
0.8831
0.2277
0.0802
AMP
2026.05
4.7512
34.5
37
-
1.733
0.4652
0.1061
Humanoid-Gym
2026.05
3.9048
4.5
-
-
2.3196
0.5283
0.0385
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