Human-reference-conditioned motion generation on Unitree G1
18.84MPJPEOMG-XL
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OMG-XLModel Size=XL2026.06 | 18.84 | 47.83 | 52.26 | 5.03 | 3.69 | 0.32 | 64.04 | 43.07 | 112.6 | 5.55 | 1.63 | 0.39 | 23.05 | |
| OMG-LModel Size=L2026.06 | 26.4 | 64.64 | 72.39 | 6.16 | 3.91 | 0.35 | 61.01 | 42.81 | 110.66 | 5.63 | 1.62 | 0.2 | 22.66 | |
| PHC2026.06 | 51.44 | 153.44 | 152.18 | 5.06 | 3.97 | 0.45 | 131.38 | 47.8 | 115.92 | 5.86 | 1.99 | 3.71 | 39.45 | |
| OmniRetarget2026.06 | 56.9 | 119.71 | 131.14 | 5.55 | 4.87 | 0.31 | 188.92 | 44.34 | 111.58 | 5.94 | 2.35 | 0.98 | 24.22 | |
| GMR2026.06 | 81.95 | 223.69 | 219.23 | 11.72 | 10.41 | 0.45 | 404.8 | 90.54 | 249.47 | 12.52 | 5.22 | 11.33 | 68.75 | |
| NMR2026.06 | 173.77 | 390.82 | 477.08 | 14.87 | 7.43 | 0.77 | 97.75 | 102.28 | 299.27 | 11.26 | 3.32 | 14.84 | 87.89 |