Sparse Trajectory Tracking on Unitree G1 Humanoid Simulation (test)
99.7Success RateTEACHER
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| TEACHERtype=privileged teacher policy2026.06 | 99.7 | — | — | 4.6 | 7.58 | — | — | 0.43 | 0.83 | |
| ASYNC-CA (ours)estimator=true2026.06 | 99.6 | 6 | 6.43 | 4.84 | 6.49 | 0.45 | 0.82 | 0.45 | 0.83 | |
| ASYNC-3PT (ours)training=post-training2026.06 | 99.5 | 6.9 | 6.83 | 4.87 | 6.38 | 0.45 | 0.82 | 0.45 | 0.83 | |
| ASYNC-CA w.o. estimatorestimator=false2026.06 | 99.17 | 7.98 | 9.53 | 6.66 | 10.26 | 0.47 | 0.92 | 0.45 | 1.16 | |
| Sync W.SCexecution=synchronous, framework=OmniH2O2026.06 | 98.58 | — | — | 4.47 | 7.04 | — | — | 0.44 | 0.82 | |
| ASYNC-3PT from scratchtraining=from scratch2026.06 | 92.62 | 19.7 | 47.2 | 18.8 | 45.6 | 0.72 | 1.32 | 0.68 | 0.68 | |
| Decoupled2026.06 | 92.3 | 9.11 | 15.51 | 2.61 | 9.22 | 0.45 | 1.77 | 0.48 | 2.1 | |
| Sync W.ASCexecution=synchronous2026.06 | 75.48 | 14.64 | 15.15 | 4.84 | 5.8 | 0.55 | 0.68 | 0.53 | 0.79 |