Motion Retargeting on Human-to-Unitree G1 Retargeting (test)
100SR (%)Human2Humanoid
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Human2HumanoidMotion=Walk32026.06 | 100 | 0.1 | 11.5 | 0 | |
| Unitree RetargetMotion=Backward12026.06 | 100 | 0.12 | 9.8 | 0 | |
| Human2HumanoidMotion=Backward12026.06 | 100 | 0.11 | 1.3 | 0 | |
| GMRMotion=Backward32026.06 | 100 | 0.09 | 0.8 | 0 | |
| Unitree RetargetMotion=Backward32026.06 | 100 | 0.11 | 8 | 0 | |
| Human2HumanoidMotion=Backward32026.06 | 100 | 0.08 | 0 | 0 | |
| GMRMotion=Turn12026.06 | 100 | 0.13 | 0.2 | 0 | |
| GMRMotion=Stand12026.06 | 100 | 0.12 | 5.5 | 0 | |
| Human2HumanoidMotion=Stand12026.06 | 100 | 0.12 | 0 | 0 | |
| GMRMotion=Walk12026.06 | 95 | 0.12 | 23.7 | 0.55 | |
| Unitree RetargetMotion=Walk12026.06 | 95 | 0.16 | 37.6 | 1.8 | |
| GMRMotion=Box12026.06 | 95 | 0.14 | 0.2 | 0 | |
| Human2HumanoidMotion=Box12026.06 | 95 | 0.1 | 0.1 | 0.04 | |
| PHCMotion=Backward12026.06 | 95 | 0.14 | 0 | 0 | |
| Human2HumanoidMotion=Backward22026.06 | 95 | 0.11 | 0 | 0 | |
| Human2HumanoidMotion=Turn12026.06 | 95 | 0.09 | 0 | 0 | |
| Human2HumanoidMotion=Walk12026.06 | 90 | 0.11 | 17.7 | 0.03 | |
| GMRMotion=Walk22026.06 | 90 | 0.13 | 19.3 | 0.32 | |
| Unitree RetargetMotion=Walk22026.06 | 90 | 0.16 | 30.3 | 0.97 | |
| Unitree RetargetMotion=Walk32026.06 | 90 | 0.17 | 9.5 | 0.1 | |
| Unitree RetargetMotion=Hop12026.06 | 90 | 0.17 | 3.5 | 0 | |
| GMRMotion=Jump12026.06 | 90 | 0.14 | 21.8 | 0.56 | |
| Unitree RetargetMotion=Jump12026.06 | 90 | 0.18 | 33 | 1.69 | |
| GMRMotion=Backward12026.06 | 90 | 0.1 | 2.2 | 0 | |
| Unitree RetargetMotion=Backward22026.06 | 90 | 0.13 | 3.6 | 0 | |
| Unitree RetargetMotion=Turn12026.06 | 90 | 0.17 | 0.2 | 0 | |
| Unitree RetargetMotion=Stand12026.06 | 90 | 0.17 | 6.5 | 0 | |
| Human2HumanoidMotion=Avg.2026.06 | 88.5 | 0.12 | 4.7 | 0.05 | |
| GMRMotion=Avg.2026.06 | 86.9 | 0.14 | 6.8 | 0.12 | |
| Human2HumanoidMotion=Walk22026.06 | 85 | 0.11 | 14.1 | 0.02 | |
| GMRMotion=Walk32026.06 | 85 | 0.15 | 13.9 | 0.19 | |
| Human2HumanoidMotion=Hop12026.06 | 85 | 0.11 | 0.2 | 0 | |
| Human2HumanoidMotion=Jump12026.06 | 85 | 0.12 | 16.1 | 0.03 | |
| GMRMotion=Backward22026.06 | 85 | 0.12 | 0.4 | 0 | |
| GMRMotion=Box22026.06 | 80 | 0.13 | 0.3 | 0 | |
| PHCMotion=Backward32026.06 | 75 | 0.14 | 0 | 0 | |
| Unitree RetargetMotion=Avg.2026.06 | 71.2 | 0.19 | 11.1 | 0.35 | |
| GMRMotion=Hop12026.06 | 70 | 0.16 | 0 | 0 | |
| Human2HumanoidMotion=Box22026.06 | 70 | 0.13 | 0.7 | 0.55 | |
| PHCMotion=Stand12026.06 | 65 | 0.15 | 0.3 | 0.16 | |
| GMRMotion=Crouch12026.06 | 50 | 0.29 | 0 | 0 | |
| Human2HumanoidMotion=Crouch12026.06 | 50 | 0.21 | 0 | 0 | |
| PHCMotion=Walk12026.06 | 45 | 0.16 | 3.5 | 0.24 | |
| PHCMotion=Walk32026.06 | 35 | 0.17 | 1.9 | 0.13 | |
| PHCMotion=Backward22026.06 | 35 | 0.16 | 0 | 0 | |
| PHCMotion=Turn12026.06 | 35 | 0.15 | 0 | 0 | |
| PHCMotion=Avg.2026.06 | 32.7 | 0.22 | 1.4 | 0.11 | |
| PHCMotion=Walk22026.06 | 25 | 0.17 | 4 | 0.3 | |
| PHCMotion=Hop12026.06 | 10 | 0.16 | 0 | 0 | |
| PHCMotion=Jump12026.06 | 5 | 0.18 | 8.4 | 0.64 | |
| PHCMotion=Box12026.06 | 0 | 0.18 | 0 | 0 | |
| Unitree RetargetMotion=Box12026.06 | 0 | 0.21 | 0 | 0 | |
| PHCMotion=Box22026.06 | 0 | 0.17 | 0 | 0 | |
| Unitree RetargetMotion=Box22026.06 | 0 | 0.19 | 2.5 | 0 | |
| PHCMotion=Crouch12026.06 | 0 | 0.92 | 0.3 | 0 | |
| Unitree RetargetMotion=Crouch12026.06 | 0 | 0.56 | 0 | 0 |