Humanoid-Object Motion Tracking on OMOMO human-object MoCap IsaacGym-based evaluation (OOD)
97.12Humanoid Success RateULTRA Teacher
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ULTRA TeacherCategory=(b) Privileged Teacher2026.03 | 97.12 | 81.33 | 19.14 | 7.94 | 15.91 | 25.57 | 33.49 | |
| ULTRA (Distillation)Category=(c) General Motion Tracking2026.03 | 86.63 | 52.74 | 35.01 | 13.48 | 9.35 | 36.18 | 38.18 | |
| ULTRA (Ours)Category=(a) Unified Multimodal Controller2026.03 | 70.57 | 52 | 35.55 | 14.67 | 6.81 | 56.52 | 67.6 | |
| ULTRA (RL)Category=(c) General Motion Tracking2026.03 | 53.38 | 23.54 | 68.11 | 22.22 | 17.46 | 66.17 | 59.44 | |
| OmniRetargetCategory=(c) General Motion Tracking2026.03 | 46.71 | 25.82 | 68.34 | 8.98 | 40.08 | 58.57 | 66.7 | |
| OmniRetarget†Category=(c) General Motion Tracking, Training Data=original OmniRetarget dataset2026.03 | 33.36 | 20.78 | 74.8 | 16.23 | 49.52 | 55.11 | 62.44 | |
| HDMICategory=(c) General Motion Tracking2026.03 | 13.92 | 12.95 | 87.07 | 27.54 | 29.19 | 77.33 | 71.16 |