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Motion Retargeting on Human-to-Unitree G1 Retargeting (test)

100SR (%)

Human2Humanoid

Updated 1mo ago

Evaluation Results

Method
Human2Humanoid 2026.06	100	0.1	11.5	0
Unitree Retarget 2026.06	100	0.12	9.8	0
Human2Humanoid 2026.06	100	0.11	1.3	0
GMR 2026.06	100	0.09	0.8	0
Unitree Retarget 2026.06	100	0.11	8	0
Human2Humanoid 2026.06	100	0.08	0	0
GMR 2026.06	100	0.13	0.2	0
GMR 2026.06	100	0.12	5.5	0
Human2Humanoid 2026.06	100	0.12	0	0
GMR 2026.06	95	0.12	23.7	0.55
Unitree Retarget 2026.06	95	0.16	37.6	1.8
GMR 2026.06	95	0.14	0.2	0
Human2Humanoid 2026.06	95	0.1	0.1	0.04
PHC 2026.06	95	0.14	0	0
Human2Humanoid 2026.06	95	0.11	0	0
Human2Humanoid 2026.06	95	0.09	0	0
Human2Humanoid 2026.06	90	0.11	17.7	0.03
GMR 2026.06	90	0.13	19.3	0.32
Unitree Retarget 2026.06	90	0.16	30.3	0.97
Unitree Retarget 2026.06	90	0.17	9.5	0.1
Unitree Retarget 2026.06	90	0.17	3.5	0
GMR 2026.06	90	0.14	21.8	0.56
Unitree Retarget 2026.06	90	0.18	33	1.69
GMR 2026.06	90	0.1	2.2	0
Unitree Retarget 2026.06	90	0.13	3.6	0
Unitree Retarget 2026.06	90	0.17	0.2	0
Unitree Retarget 2026.06	90	0.17	6.5	0
Human2Humanoid 2026.06	88.5	0.12	4.7	0.05
GMR 2026.06	86.9	0.14	6.8	0.12
Human2Humanoid 2026.06	85	0.11	14.1	0.02
GMR 2026.06	85	0.15	13.9	0.19
Human2Humanoid 2026.06	85	0.11	0.2	0
Human2Humanoid 2026.06	85	0.12	16.1	0.03
GMR 2026.06	85	0.12	0.4	0
GMR 2026.06	80	0.13	0.3	0
PHC 2026.06	75	0.14	0	0
Unitree Retarget 2026.06	71.2	0.19	11.1	0.35
GMR 2026.06	70	0.16	0	0
Human2Humanoid 2026.06	70	0.13	0.7	0.55
PHC 2026.06	65	0.15	0.3	0.16
GMR 2026.06	50	0.29	0	0
Human2Humanoid 2026.06	50	0.21	0	0
PHC 2026.06	45	0.16	3.5	0.24
PHC 2026.06	35	0.17	1.9	0.13
PHC 2026.06	35	0.16	0	0
PHC 2026.06	35	0.15	0	0
PHC 2026.06	32.7	0.22	1.4	0.11
PHC 2026.06	25	0.17	4	0.3
PHC 2026.06	10	0.16	0	0
PHC 2026.06	5	0.18	8.4	0.64
PHC 2026.06	0	0.18	0	0
Unitree Retarget 2026.06	0	0.21	0	0
PHC 2026.06	0	0.17	0	0
Unitree Retarget 2026.06	0	0.19	2.5	0
PHC 2026.06	0	0.92	0.3	0
Unitree Retarget 2026.06	0	0.56	0	0