Motion Control on HumanML3D (test)
0Average ErrorReal
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Real2024.04 | 0 | — | 0.002 | 0.797 | 9.503 | 0 | 0 | — | — | — | — | — | — | — | — | — | — | — | |
| Real MotionControl Scenario=Pelvis2026.03 | 0 | — | 0.002 | 0.797 | 9.503 | — | — | 0 | — | — | 0 | — | — | — | 0 | — | — | — | |
| MoTok-AR-2Control Scenario=Random Two2026.03 | 0.0006 | — | 0.037 | 0.765 | 9.452 | — | — | 0 | — | — | 0 | — | — | — | 4.22 | — | — | — | |
| MoTok-DDM-2Control Scenario=Random Two2026.03 | 0.0006 | — | 0.016 | 0.775 | 9.711 | — | — | 0 | — | — | 0 | — | — | — | 4.56 | — | — | — | |
| MoTok-AR-4Control Scenario=Random Two2026.03 | 0.0006 | — | 0.041 | 0.762 | 9.481 | — | — | 0 | — | — | 0 | — | — | — | 5.15 | — | — | — | |
| MoTok-DDM-4Control Scenario=Random Two2026.03 | 0.0006 | — | 0.022 | 0.784 | 9.562 | — | — | 0 | — | — | 0 | — | — | — | 5.21 | — | — | — | |
| MoTok-DDM-2Control Scenario=Random Three2026.03 | 0.0007 | — | 0.014 | 0.786 | 9.519 | — | — | 0 | — | — | 0 | — | — | — | 4.8 | — | — | — | |
| MoTok-DDM-4Control Scenario=Random Three2026.03 | 0.0007 | — | 0.022 | 0.788 | 9.474 | — | — | 0 | — | — | 0 | — | — | — | 5.23 | — | — | — | |
| MoTok-DDM-2Control Scenario=Random One2026.03 | 0.0008 | — | 0.025 | 0.779 | 9.756 | — | — | 0 | — | — | 0 | — | — | — | 4.36 | — | — | — | |
| MoTok-DDM-4Control Scenario=Random One2026.03 | 0.0008 | — | 0.029 | 0.777 | 9.297 | — | — | 0 | — | — | 0 | — | — | — | 5.08 | — | — | — | |
| MoTok-AR-2Control Scenario=Random Three2026.03 | 0.0008 | — | 0.035 | 0.772 | 9.278 | — | — | 0 | — | — | 0 | — | — | — | 4.82 | — | — | — | |
| MoTok-AR-4Control Scenario=Random Three2026.03 | 0.0008 | — | 0.045 | 0.769 | 9.519 | — | — | 0 | — | — | 0 | — | — | — | 5.29 | — | — | — | |
| MoTok-AR-2Control Scenario=Random One2026.03 | 0.0009 | — | 0.056 | 0.744 | 9.586 | — | — | 0 | — | — | 0 | — | — | — | 4.3 | — | — | — | |
| MoTok-AR-4Control Scenario=Random One2026.03 | 0.0009 | — | 0.04 | 0.756 | 9.38 | — | — | 0 | — | — | 0 | — | — | — | 4.96 | — | — | — | |
| CrowdMoGenControl Scenario=Random Two2026.03 | 0.0027 | — | 0.178 | 0.777 | 9.149 | — | — | 0 | — | — | 0 | — | — | — | 8.65 | — | — | — | |
| CrowdMoGenControl Scenario=Random One2026.03 | 0.0028 | — | 0.147 | 0.781 | 9.461 | — | — | 0 | — | — | 0 | — | — | — | 8.29 | — | — | — | |
| CrowdMoGenControl Scenario=Random Three2026.03 | 0.003 | — | 0.192 | 0.778 | 9.169 | — | — | 0 | — | — | 0 | — | — | — | 8.71 | — | — | — | |
| MoTok-DDM-2Control Scenario=Pelvis2026.03 | 0.0049 | — | 0.035 | 0.786 | 9.44 | — | — | 0 | — | — | 0 | — | — | — | 4.53 | — | — | — | |
| MoTok-DDM-4Control Scenario=Pelvis2026.03 | 0.0049 | — | 0.029 | 0.794 | 9.476 | — | — | 0 | — | — | 0 | — | — | — | 5.48 | — | — | — | |
| MoTok-AR-4Control Scenario=Pelvis2026.03 | 0.0051 | — | 0.046 | 0.777 | 9.408 | — | — | 0 | — | — | 0 | — | — | — | 6.05 | — | — | — | |
| MoTok-AR-2Control Scenario=Pelvis2026.03 | 0.0052 | — | 0.046 | 0.767 | 9.516 | — | — | 0 | — | — | 0 | — | — | — | 4.89 | — | — | — | |
| MaskControlControl Scenario=Random One2026.03 | 0.0072 | — | 0.083 | 0.805 | 9.395 | — | — | 0 | — | — | 0 | — | — | — | 5.45 | — | — | — | |
| MaskControlControl Scenario=Pelvis2026.03 | 0.0098 | — | 0.061 | 0.809 | 9.496 | — | — | 0 | — | — | 0 | — | — | — | 5.47 | — | — | — | |
| CrowdMoGenControl Scenario=Pelvis2026.03 | 0.0196 | — | 0.132 | 0.784 | 9.109 | — | — | 0 | — | — | 0 | — | — | — | 7.62 | — | — | — | |
| OmniControlControl Scenario=Pelvis2026.03 | 0.0338 | — | 0.218 | 0.687 | 9.422 | — | — | 3.87 | — | — | 0.96 | — | — | — | 5.47 | — | — | — | |
| OmniControlControl Scenario=Random One2026.03 | 0.0404 | — | 0.31 | 0.693 | 9.502 | — | — | 6.17 | — | — | 1.07 | — | — | — | 6.08 | — | — | — | |
| InterControlControl Scenario=Pelvis2026.03 | 0.0496 | — | 0.159 | 0.671 | 9.482 | — | — | 1.32 | — | — | 0.04 | — | — | — | 7.29 | — | — | — | |
| InterControlControl Scenario=Random One2026.03 | 0.0741 | — | 0.178 | 0.669 | 9.498 | — | — | 4.03 | — | — | 0.31 | — | — | — | 9.68 | — | — | — | |
| InterControlControl Scenario=Random Two2026.03 | 0.0911 | — | 0.184 | 0.67 | 9.41 | — | — | 4.75 | — | — | 0.3 | — | — | — | 9.48 | — | — | — | |
| InterControlControl Scenario=Random Three2026.03 | 0.0969 | — | 0.199 | 0.673 | 9.352 | — | — | 4.87 | — | — | 0.26 | — | — | — | 9.3 | — | — | — | |
| OmniControl2024.04 | 0.0977 | 81 | 2.328 | 0.557 | 8.867 | 0.3362 | 0.0322 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=2, Control supervision=Latent & Motion space (LC&MC)2024.04 | 0.1092 | 0.047 | 0.397 | 0.759 | 9.469 | 0.196 | 0.0143 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=1, Control supervision=Latent & Motion space (LC&MC)2024.04 | 0.1127 | 0.042 | 0.419 | 0.756 | 9.39 | 0.1988 | 0.0147 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=4, Control supervision=Latent & Motion space (LC&MC)2024.04 | 0.114 | 0.063 | 0.444 | 0.753 | 9.355 | 0.2089 | 0.0172 | — | — | — | — | — | — | — | — | — | — | — | |
| MLDControl supervision=Latent & Motion space (LC&MC)2024.04 | 0.1265 | 0.552 | 0.555 | 0.754 | 9.373 | 0.2722 | 0.0215 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=2, Control supervision=Latent space (LC)2024.04 | 0.1365 | 0.047 | 0.315 | 0.77 | 9.427 | 0.284 | 0.0328 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=4, Control supervision=Latent space (LC)2024.04 | 0.1398 | 0.063 | 0.328 | 0.745 | 9.441 | 0.2973 | 0.0339 | — | — | — | — | — | — | — | — | — | — | — | |
| MotionLCMInference steps=1, Control supervision=Latent space (LC)2024.04 | 0.141 | 0.042 | 0.319 | 0.752 | 9.424 | 0.2986 | 0.0344 | — | — | — | — | — | — | — | — | — | — | — | |
| GMDControl Scenario=Pelvis2026.03 | 0.1439 | — | 0.576 | 0.665 | 9.206 | — | — | 9.31 | — | — | 3.21 | — | — | — | 10.9 | — | — | — | |
| MLDControl supervision=Latent space (LC)2024.04 | 0.169 | 0.552 | 0.469 | 0.723 | 9.476 | 0.423 | 0.0653 | — | — | — | — | — | — | — | — | — | — | — | |
| KV-Control (M3)Joint=Pelvis (single-joint), Refinement=dyn Stage-1 + Stage-2, Source=Our re-runs2026.06 | 0.4 | — | 0.065 | 0.799 | — | — | 0 | — | — | — | — | — | — | — | 4.48 | 0 | — | — | |
| PriorMDMControl Scenario=Pelvis2026.03 | 0.4417 | — | 0.475 | 0.583 | 9.156 | — | — | 34.57 | — | — | 21.32 | — | — | — | 8.97 | — | — | — | |
| KV-Control (M2)Joint=Pelvis (single-joint), Refinement=MC, +Stage-2, Source=Our re-runs2026.06 | 0.51 | — | 0.064 | 0.801 | — | — | 0 | — | — | — | — | — | — | — | 4.44 | 0 | — | — | |
| KV-Control (M3)Joint=All Joints (multi-joint), Refinement=dyn Stage-1 + Stage-2, Source=Our re-runs (multi-joint K/V-Control)2026.06 | 0.71 | — | 0.054 | — | — | — | — | — | — | — | — | — | — | — | 4.83 | 0 | 79.9 | 0 | |
| MaskControlJoint=All Joints (multi-joint), Source=Prior-work2026.06 | 0.72 | — | 0.083 | — | — | — | — | — | — | — | — | — | — | — | 5.45 | 0 | 80.5 | 0 | |
| KV-Control (M1)Joint=Pelvis (single-joint), Refinement=Stage-1, Source=Our re-runs2026.06 | 0.89 | — | 0.066 | 0.8 | — | — | 0.01 | — | — | — | — | — | — | — | 4.47 | 0.07 | — | — | |
| KV-Control (M2)Joint=All Joints (multi-joint), Refinement=MC, +Stage-2, Source=Our re-runs (multi-joint K/V-Control)2026.06 | 0.9 | — | 0.053 | — | — | — | — | — | — | — | — | — | — | — | 4.86 | 0 | 80.2 | 0 | |
| MaskControlJoint=Pelvis (single-joint), Source=Prior-work2026.06 | 0.98 | — | 0.061 | 0.809 | — | — | 0 | — | — | — | — | — | — | — | 5.47 | 0 | — | — | |
| TLControlControl Joint=Pelvis2026.01 | 1.08 | — | — | — | — | — | — | 0 | 0.39 | 11.04 | 0 | 0 | 0.26 | -3.89 | — | — | — | — | |
| TLControlControl Joint=Left Wrist2026.01 | 1.08 | — | — | — | — | — | — | 0 | 1.37 | 12.88 | 0 | 0.11 | 0.28 | -5.66 | — | — | — | — | |
| TLControlJoint=Pelvis (single-joint), Source=Prior-work2026.06 | 1.08 | — | 0.271 | 0.779 | — | — | 0 | — | — | — | — | — | — | — | — | 0 | — | — | |
| TLControlControl Joint=Right Wrist2026.01 | 1.09 | — | — | — | — | — | — | 0 | 1.17 | 12.3 | 0 | 0.02 | 0.18 | -5.62 | — | — | — | — | |
| TLControlControl Joint=Head2026.01 | 1.1 | — | — | — | — | — | — | 0 | 1.1 | 22.95 | 0 | 0.07 | 0.89 | -7.47 | — | — | — | — | |
| TLControlJoint=All Joints (multi-joint), Source=Prior-work2026.06 | 1.11 | — | 0.256 | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 78.2 | 0 | |
| TLControlControl Joint=Left Foot2026.01 | 1.14 | — | — | — | — | — | — | 0 | 0 | 10.12 | 0 | 0.01 | 0.15 | -4.79 | — | — | — | — | |
| FUSIONControl Joint=Pelvis2026.01 | 1.16 | — | — | — | — | — | — | 0 | 1.47 | 12.41 | 0 | 0.13 | 0.68 | 0.37 | — | — | — | — | |
| TLControlControl Joint=Right Foot2026.01 | 1.16 | — | — | — | — | — | — | 0 | 0.49 | 11.13 | 0 | 0 | 0.16 | -3.15 | — | — | — | — | |
| FUSIONControl Joint=Left Wrist2026.01 | 1.23 | — | — | — | — | — | — | 0 | 2.93 | 5.54 | 0 | 0.13 | 0.35 | -0.79 | — | — | — | — | |
| FUSIONControl Joint=Right Wrist2026.01 | 1.31 | — | — | — | — | — | — | 0 | 3.03 | 6.57 | 0 | 0.15 | 0.38 | -0.83 | — | — | — | — | |
| FUSIONControl Joint=Left Foot2026.01 | 1.42 | — | — | — | — | — | — | 0 | 3.62 | 13.04 | 0 | 0.54 | 0.87 | -1.13 | — | — | — | — | |
| FUSIONControl Joint=Right Foot2026.01 | 1.46 | — | — | — | — | — | — | 0 | 2.75 | 12.82 | 0 | 0.24 | 0.74 | -0.72 | — | — | — | — | |
| FUSIONControl Joint=Head2026.01 | 1.51 | — | — | — | — | — | — | 0 | 2.03 | 13.24 | 0 | 0.15 | 0.44 | -0.32 | — | — | — | — | |
| TLControlControl Joint=All Joints above2026.01 | 1.57 | — | — | — | — | — | — | 0 | 10.62 | 71.09 | 0 | 0.09 | 1.71 | -7.86 | — | — | — | — | |
| FUSIONControl Joint=All Joints above2026.01 | 1.78 | — | — | — | — | — | — | 0 | 35.28 | 64.14 | 0 | 1.05 | 3.73 | -1.26 | — | — | — | — | |
| OmniControlControl Joint=Left Foot2026.01 | 3.14 | — | — | — | — | — | — | 5.94 | — | — | 0.94 | — | — | — | — | — | — | — | |
| KV-Control (M1)Joint=All Joints (multi-joint), Refinement=Stage-1, Source=Our re-runs (multi-joint K/V-Control)2026.06 | 3.24 | — | 0.054 | — | — | — | — | — | — | — | — | — | — | — | 4.61 | 0.32 | 80.6 | 0.04 | |
| OmniControlControl Joint=Right Foot2026.01 | 3.34 | — | — | — | — | — | — | 6.66 | — | — | 1.2 | — | — | — | — | — | — | — | |
| OmniControlControl Joint=Pelvis2026.01 | 3.38 | — | — | — | — | — | — | 3.87 | — | — | 0.96 | — | — | — | — | — | — | — | |
| OmniControlJoint=Pelvis (single-joint), Source=Prior-work2026.06 | 3.38 | — | 0.218 | 0.687 | — | — | 0.96 | — | — | — | — | — | — | — | 5.47 | 3.87 | — | — | |
| OmniControlControl Joint=Head2026.01 | 3.49 | — | — | — | — | — | — | 4.22 | — | — | 0.79 | — | — | — | — | — | — | — | |
| OmniControlJoint=All Joints (multi-joint), Source=Prior-work2026.06 | 4.04 | — | 0.31 | — | — | — | — | — | — | — | — | — | — | — | 6.08 | 6.17 | 69.3 | 1.07 | |
| OmniControlControl Joint=Right Wrist2026.01 | 5.19 | — | — | — | — | — | — | 8.13 | — | — | 1.27 | — | — | — | — | — | — | — | |
| OmniControlControl Joint=Left Wrist2026.01 | 5.29 | — | — | — | — | — | — | 8.01 | — | — | 1.34 | — | — | — | — | — | — | — | |
| GMDControl Joint=Pelvis2026.01 | 14.39 | — | — | — | — | — | — | 9.31 | — | — | 3.21 | — | — | — | — | — | — | — | |
| GMDJoint=Pelvis (single-joint), Source=Prior-work2026.06 | 14.39 | — | 0.576 | 0.665 | — | — | 3.21 | — | — | — | — | — | — | — | 10.09 | 9.31 | — | — | |
| MotionLCMJoint=Pelvis (single-joint), Source=Prior-work2026.06 | 18.97 | — | 0.531 | 0.752 | — | — | 7.69 | — | — | — | — | — | — | — | — | 18.87 | — | — | |
| OmniControlControl Joint=All Joints above2026.01 | 23.67 | — | — | — | — | — | — | 75.59 | — | — | 12.3 | — | — | — | — | — | — | — | |
| KV-Control (M0)Joint=Pelvis (single-joint), Refinement=feed-forward, Source=Our re-runs2026.06 | 29.88 | — | 0.076 | 0.809 | — | — | 17.05 | — | — | — | — | — | — | — | 4.25 | 27.55 | — | — | |
| MaskControl (w/o Logits Opt.)Joint=Pelvis (single-joint), Source=Prior-work2026.06 | 40.41 | — | 0.128 | 0.802 | — | — | 24 | — | — | — | — | — | — | — | 5.94 | 39.14 | — | — | |
| KV-Control (M0)Joint=All Joints (multi-joint), Refinement=feed-forward, Source=Our re-runs (multi-joint K/V-Control)2026.06 | 40.63 | — | 0.074 | — | — | — | — | — | — | — | — | — | — | — | 4.33 | 37.04 | 81.2 | 22.56 | |
| PriorMDMControl Joint=Pelvis2026.01 | 44.17 | — | — | — | — | — | — | 34.57 | — | — | 21.32 | — | — | — | — | — | — | — | |
| MDMControl Joint=Pelvis2026.01 | 59.59 | — | — | — | — | — | — | 40.22 | — | — | 30.76 | — | — | — | — | — | — | — |