Motion Tracking on PHUMA (test)
92.7Total ScorePHUMA
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PHUMATraining Hours=73.0, Training Dataset=PHUMA2025.10 | 92.7 | 95.6 | 91.7 | 86 | 85.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PHUMATraining Hours=73.02025.10 | 82.7 | 91.5 | 79.5 | 68.1 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMASSTraining Hours=20.9, Training Dataset=AMASS2025.10 | 76.2 | 88.5 | 72.1 | 56.8 | 66.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaFAN1Training Hours=2.42025.10 | 62 | 79.3 | 54.7 | 26.6 | 58.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMASSTraining Hours=20.92025.10 | 54.4 | 74.9 | 45.9 | 17.2 | 49.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Humanoid-XTraining Hours=231.4, Training Dataset=Humanoid-X2025.10 | 50.6 | 78.4 | 43 | 26 | 31.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Humanoid-XTraining Hours=231.42025.10 | 49.7 | 74.6 | 40.4 | 17 | 37.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaFAN1Training Hours=2.4, Training Dataset=LaFAN12025.10 | 46.1 | 66.1 | 36.2 | 24 | 42.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMASS-trained policyTraining Dataset=AMASS, Evaluation Robot=Unitree G12025.10 | — | — | — | — | — | 41 | 27.3 | 47.5 | 49.9 | 39.4 | 3.2 | 1.81 | 4.1 | 3.14 | 3.77 | 1.5 | 0.77 | 2.09 | 1.33 | 1.8 | |
| PHUMA-trained policyTraining Dataset=PHUMA, Evaluation Robot=Unitree G12025.10 | — | — | — | — | — | 34.3 | 23.2 | 40.4 | 42.6 | 31.1 | 2.69 | 1.41 | 3.07 | 2.68 | 3.6 | 1.29 | 0.58 | 1.43 | 1.18 | 1.96 |