Humanoid Motion Tracking on MuJoCo 101 held-out motion sequences (test)
90.6CR (%)Heracles
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| HeraclesObs.=†, Tokenizer=iFSQ, Policy=Enc-Dec, Traj. Gen.=✓2026.03 | 90.6 | 1.3272 | 0.0764 | 0.2728 | 0.2325 | |
| iFSQ+HObs.=†+H, Tokenizer=iFSQ, Policy=Enc-Dec, Traj. Gen.=✗2026.03 | 87.3 | 1.2924 | 0.0271 | 0.1539 | 0.1709 | |
| iFSQObs.=†, Tokenizer=iFSQ, Policy=Enc-Dec, Traj. Gen.=✗2026.03 | 87.2 | 1.1863 | 0.0955 | 0.3614 | 0.1561 | |
| VQ-VAEObs.=BM, Tokenizer=VQ, Policy=Enc-Dec, Traj. Gen.=✗2026.03 | 86 | 2.3013 | 0.1077 | 0.3675 | 0.2376 | |
| iFSQBMObs.=BM+H, Tokenizer=iFSQ, Policy=Enc-Dec, Traj. Gen.=✗2026.03 | 85.1 | 1.476 | 0.1096 | 0.3474 | 0.2362 | |
| MLPObs.=BM, Tokenizer=–, Policy=MLP, Traj. Gen.=✗2026.03 | 84.8 | 1.1572 | 0.1194 | 0.359 | 0.223 | |
| TransformerObs.=BM, Tokenizer=–, Policy=Trans., Traj. Gen.=✗2026.03 | 80.6 | 1.5436 | 0.1426 | 0.341 | 0.2046 | |
| SONICObs.=SONIC, Tokenizer=–, Policy=SONIC, Traj. Gen.=✗2026.03 | 79.3 | 1.9828 | 0.1402 | 0.3771 | 0.2334 |