Motion Tracking on Atlas motions Simulation
0.047MAE (rad)MPC
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| MPCMotion=Walk2026.01 | 0.047 | 0.02 | |
| ZEST (RL policy)Motion=Walk2026.01 | 0.055 | 0.028 | |
| ZEST (RL policy)Motion=Jog2026.01 | 0.076 | 0.062 | |
| ZEST (RL policy)Motion=Roll on all fours2026.01 | 0.086 | 0.091 | |
| ZEST (RL policy)Motion=Cartwheel2026.01 | 0.088 | 0.063 | |
| ZEST (RL policy)Motion=Dance snippet B2026.01 | 0.096 | 0.15 | |
| MPCMotion=Jog2026.01 | 0.117 | 0.11 | |
| ZEST (RL policy)Motion=Handstand invert2026.01 | 0.147 | 0.125 | |
| MPCMotion=Cartwheel2026.01 | 0.237 | 0.06 |