Loco-manipulation Control on Unitree G1 Bilateral Workspace Simulation seed 42 (test)
0.03Velocity Error (vx)SONIC
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SONIC2026.06 | 0.03 | 0.15 | 0.02 | 89.8 | 26 | |
| OpenHomie2026.06 | 0.06 | 0.12 | 0.1 | 62.9 | 15 | |
| AMO2026.06 | 0.06 | 0.19 | 0.01 | 80.9 | 22 | |
| HANDOFF + Stab. + Rec.Recovery=true, Stability Rewards=true2026.06 | 0.06 | 0.18 | 0.06 | 90.8 | 31 | |
| FALCON2026.06 | 0.07 | 0.1 | 0.07 | 35.5 | 6 | |
| HANDOFFRecovery=false, Stability Rewards=false2026.06 | 0.07 | 0.14 | 0.04 | 87.1 | 27 | |
| HANDOFF + Rec.Recovery=true, Stability Rewards=false2026.06 | 0.07 | 0.15 | 0.05 | 92 | 26 | |
| HANDOFF + Stab.Recovery=false, Stability Rewards=true2026.06 | 0.07 | 0.18 | 0.04 | 97.7 | 31 |