Motion Tracking on Quadruped Locomotion Trot v1 (test)
0.039Tracking Error (q)APEX-Full
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| APEX-FullReference Mode=Full, Training Iterations=10k2025.05 | 0.039 | 0.004 | 0.043 | 0.056 | 41.5 | 3.2 | |
| APEXReference Mode=Reference-Free, Training Iterations=2k2025.05 | 0.077 | 0.007 | 0.041 | 0.064 | 35.37 | 87.5 | |
| DM-FullReference Mode=Full, Training Iterations=10k2025.05 | 0.097 | 0.005 | 0.047 | 0.098 | 40.2 | — | |
| DM-NIAReference Mode=Reference-Free, Training Iterations=>=10k2025.05 | 0.979 | 0.012 | 0.137 | 1.065 | 18.87 | — |