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SOTA Humanoid Locomotion benchmarks and papers with code | Wizwand
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Humanoid Locomotion
Benchmarks
Dataset Name
SOTA Method
Dataset Name
SOTA Method
Metric
Trend
Results
Last Updated
Humanoid Randomized Task (OOD Sweep)
LSTM
Reward
-3.58
24
25d ago
Simulation Plane
PIM
Success Rate (Rsucc)
100
10
1mo ago
RDT-Bench Average
Now You See That
Success Rate
98.9
8
1mo ago
RDT-Bench Platform
Now You See That
Success Rate (SR)
98.4
8
1mo ago
RDT-Bench Gaps
Now You See That
Success Rate
99.3
8
1mo ago
RDT-Bench Stairs Down
Now You See That
Success Rate
98.6
8
1mo ago
RDT-Bench Stairs Up
Now You See That
Success Rate
99.2
8
1mo ago
Unitree G1 Locomotion Isaac Gym (Simulation)
PCHC
Average Stride
0.79
6
23d ago
Simulation Narrow Gate
ADAPT
Success Rate (Rsucc)
80
5
1mo ago
Simulation Pole
ADAPT
Success Rate
98
5
1mo ago
Simulation Beam
ADAPT
Success Rate (Rsucc)
96.67
5
1mo ago
Simulation Hurdle
ADAPT
Success Rate (Rsucc)
90
5
1mo ago
Simulation Jump
ADAPT
Success Rate (Rsucc)
98.67
5
1mo ago
Walking motion random velocity command 1,024 environments
Hard-nullspace SILC
Action Jitter
3.03
5
1mo ago
Terrain In-distribution (deterministic evaluation)
MLP
Cumulative Reward
4.82
4
25d ago
Randomized In-distribution (deterministic evaluation)
MLP
Cumulative Reward
5.32
4
25d ago
Push In-distribution (deterministic evaluation)
MLP
Cumulative Reward
5.01
4
25d ago
Flat In-distribution (deterministic evaluation)
Transf.
Cumulative Reward
5.02
4
25d ago
Uneven Terrain & Disturbance Configuration Noise Case II
LCP
Joint Power
976.3
4
1mo ago
Uneven Terrain & Disturbance Configurations Noise Case I
CMR
Joint Power
1,120.7
4
1mo ago
IsaacGym S2: Wider DR 2048 envs Sim-to-real gap (test)
Joint Torque Space Perturbation Injection
Success Rate
98.4
3
23d ago
IsaacGym S1: Standard DR Sim-to-real gap 2048 envs (test)
Joint Torque Space Perturbation Injection
Success Rate
99.7
3
23d ago
TOCABI Humanoid Robot Forward + Rotational Walking (vx = 0.1, wyaw = 0.2) Real Robot Deployment
GP-LCP
Joint Velocity
1.3514
3
25d ago
TOCABI Humanoid Robot Forward Walking (vx = 0.25, wyaw = 0.0) Real Robot Deployment
Regularization Reward
Joint Velocity
1.972
3
25d ago
Gap Terrain (test)
Baseline
Velocity (m/s)
1.373
3
1mo ago
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