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Benchmarks
Humanoid Motion Tracking on Unitree G1 Spinkick
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0.122
Joint Position RMSE (q)
DM-Full
0.11764
0.14707
0.1765
0.20593
May 15, 2025
Joint Position RMSE (q)
Height RMSE (h)
Key-Body Position RMSE (x_key)
Velocity RMSE (v)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Joint Position RMSE (q)
Height RMSE (h)
Key-Body Position RMSE (x_key)
Velocity RMSE (v)
DM-Full
Reference Setting=Full...
2025.05
0.122
0.041
0.071
0.328
APEX-Full
Reference Setting=Full...
2025.05
0.126
0.037
0.065
0.311
APEX
Reference Setting=No-I...
2025.05
0.198
0.081
0.167
0.45
DM-NIA
Reference Setting=No-I...
2025.05
0.231
0.158
0.264
0.62
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