Real-world Motion Tracking on Unitree G1 (Physical Trials)
10Success Rate (SR)Full-Data Policy
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Full-Data PolicyTraining Data=Full, Motion Type=Walking2026.06 | 10 | 0.1037 | |
| GQSTraining Data=10% GQS-curated, Motion Type=Walking2026.06 | 10 | 0.0856 | |
| GQSTraining Data=10% GQS-curated, Motion Type=Jumping2026.06 | 9 | 0.1215 | |
| Full-Data PolicyTraining Data=Full, Motion Type=Jumping2026.06 | 8 | 0.1453 | |
| GQSTraining Data=10% GQS-curated, Motion Type=Dance 12026.06 | 8 | 0.1384 | |
| Full-Data PolicyTraining Data=Full, Motion Type=Dance 12026.06 | 7 | 0.1672 | |
| GQSTraining Data=10% GQS-curated, Motion Type=Dance 22026.06 | 7 | 0.1693 | |
| Full-Data PolicyTraining Data=Full, Motion Type=Dance 22026.06 | 6 | 0.1948 | |
| GQSTraining Data=10% GQS-curated, Motion Type=Average2026.06 | 0.85 | 0.1287 | |
| Full-Data PolicyTraining Data=Full, Motion Type=Average2026.06 | 0.775 | 0.1528 |