Motion Tracking on Quadruped Locomotion Pace v1 (test)
0.047Tracking Error (q)APEX-Full
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| APEX-FullReference Mode=Full, Training Iterations=10k2025.05 | 0.047 | 0.006 | 0.033 | 0.047 | 42.1 | 6.4 | |
| DM-FullReference Mode=Full, Training Iterations=10k2025.05 | 0.065 | 0.014 | 0.038 | 0.124 | 39.58 | — | |
| APEXReference Mode=Reference-Free, Training Iterations=2k2025.05 | 0.113 | 0.015 | 0.058 | 0.055 | 35.66 | 2 | |
| DM-NIAReference Mode=Reference-Free, Training Iterations=>=10k2025.05 | 0.344 | 0.027 | 0.088 | 0.42 | 34.97 | — |