Humanoid Motion Tracking on Unitree G1 Cartwheel
0.122Joint Position RMSEAPEX-Full
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| APEX-FullReference Setting=Full, Training Iterations=10k iters2025.05 | 0.122 | 0.037 | 0.113 | 0.329 | |
| DM-FullReference Setting=Full, Training Iterations=10k iters2025.05 | 0.123 | 0.034 | 0.128 | 0.341 | |
| APEXReference Setting=No-Input-at-Deployment (NIA), Training Iterations=2k iters2025.05 | 0.265 | 0.038 | 0.272 | 0.347 | |
| DM-NIAReference Setting=No-Input-at-Deployment (NIA), Training Iterations=≥10k iters2025.05 | 0.461 | 0.434 | 0.806 | 0.505 |