Humanoid Control Robustness on Unitree G1 1.0 (real-world deployment)
93.1Success RateReactiveBFM
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| ReactiveBFMSystem type=Closed-Loop System2026.06 | 93.1 | 2 | 34.6 | 96.9 | 29.8 | |
| ReactiveBFM with dense repre.System type=Closed-Loop System, variant=dense representation2026.06 | 89.1 | 2.7 | 40.3 | 110.9 | 29.2 | |
| ReactiveBFM w/o temp. lossSystem type=Closed-Loop System, variant=without temporal loss2026.06 | 83 | 7.5 | 38.2 | 118.3 | 26.9 | |
| TextOp+SONICSystem type=Closed-Loop System2026.06 | 76.4 | 14.7 | 42.3 | 128.5 | 27.8 | |
| ReactiveBFMSystem type=Open-Loop System2026.06 | 75.2 | 4.3 | 36.5 | — | — | |
| ReactiveBFM w/o self-rolloutSystem type=Closed-Loop System, variant=without self-rollout2026.06 | 70.5 | 9.3 | 41.9 | 124 | 26.8 | |
| Kimodo+SONICSystem type=Open-Loop System2026.06 | 70.4 | 16 | 41.2 | — | — | |
| TextOp+SONICSystem type=Open-Loop System2026.06 | 64.5 | 23.5 | 40.1 | — | — | |
| TextOp+TWIST2System type=Closed-Loop System2026.06 | 56.1 | 31.9 | 51.7 | 154.6 | 20.1 | |
| DART+GMR+SONICSystem type=Open-Loop System2026.06 | 51 | 12.5 | 46.2 | — | — |