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Humanoid Locomotion

Benchmarks

Dataset Name	SOTA Method	Metric
Humanoid Randomized Task (OOD Sweep)	LSTM	Reward-3.58	24	2mo ago
Simulation Plane	PIM	Success Rate (Rsucc)100	10	2mo ago
Slope bridge unseen (test)	DreamPolicy	Success Rate100	8	21d ago
RDT-Bench Average	Now You See That	Success Rate98.9	8	3mo ago
RDT-Bench Platform	Now You See That	Success Rate (SR)98.4	8	3mo ago
RDT-Bench Gaps	Now You See That	Success Rate99.3	8	3mo ago
RDT-Bench Stairs Down	Now You See That	Success Rate98.6	8	3mo ago
RDT-Bench Stairs Up	Now You See That	Success Rate99.2	8	3mo ago
IsaacLab Unitree G1 Flat terrain, κ=4.0	DD-SRad	Return5,473	6	27d ago
IsaacLab Unitree H1 Rough terrain, κ≈2.2	DD-SRad	Return37.14	6	27d ago
Unitree G1 Locomotion Isaac Gym (Simulation)	PCHC	Average Stride0.79	6	2mo ago
Simulation Narrow Gate	ADAPT	Success Rate (Rsucc)80	5	2mo ago
Simulation Pole	ADAPT	Success Rate98	5	2mo ago
Simulation Beam	ADAPT	Success Rate (Rsucc)96.67	5	2mo ago
Simulation Hurdle	ADAPT	Success Rate (Rsucc)90	5	2mo ago
Simulation Jump	ADAPT	Success Rate (Rsucc)98.67	5	2mo ago
Walking motion random velocity command 1,024 environments	Hard-nullspace SILC	Action Jitter3.03	5	2mo ago
Unitree G1 Simulation v1 (test)	SPRINT	Max Velocity (m/s)5.9648	4	6d ago
Wave unseen (test)	DreamPolicy	Success Rate100	4	21d ago
Balancing Beam unseen (test)	DreamPolicy	Success Rate96.35	4	21d ago
Terrain In-distribution (deterministic evaluation)		Cumulative Reward4.82	4	2mo ago
Randomized In-distribution (deterministic evaluation)		Cumulative Reward5.32	4	2mo ago
Push In-distribution (deterministic evaluation)		Cumulative Reward5.01	4	2mo ago
Flat In-distribution (deterministic evaluation)	Transf.	Cumulative Reward5.02	4	2mo ago
Uneven Terrain & Disturbance Configuration Noise Case II	LCP	Joint Power976.3	4	3mo ago

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