Humanoid Motion Tracking on Unitree G1 Spinkick
0.122Joint Position RMSE (q)DM-Full
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DM-FullReference Setting=Full, Training Iterations=10k iters2025.05 | 0.122 | 0.041 | 0.071 | 0.328 | |
| APEX-FullReference Setting=Full, Training Iterations=10k iters2025.05 | 0.126 | 0.037 | 0.065 | 0.311 | |
| APEXReference Setting=No-Input-at-Deployment (NIA), Training Iterations=2k iters2025.05 | 0.198 | 0.081 | 0.167 | 0.45 | |
| DM-NIAReference Setting=No-Input-at-Deployment (NIA), Training Iterations=≥10k iters2025.05 | 0.231 | 0.158 | 0.264 | 0.62 |