Text-conditioned motion generation on Unitree G1 Text-conditioned motion benchmark
6.03FIDOMG-XL
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OMG-XLModel Scale=XL2026.06 | 6.03 | 1.11 | 65.43 | 80.37 | 86.91 | 1.39 | 3.98 | 52.31 | 42.68 | 111.41 | 5.48 | 1.53 | 0.78 | 19.34 | |
| OMG-LModel Scale=L2026.06 | 9.55 | 1.14 | 58.5 | 74.9 | 81.45 | 1.39 | 3.68 | 56.03 | 39.06 | 98.37 | 5.11 | 1.47 | 0.29 | 14.94 | |
| HYMotionRetargeting Method=GMR [41]2026.06 | 24.68 | 1.3 | 31.84 | 48.73 | 57.71 | 1.29 | 12.2 | 112.56 | 69.05 | 287.71 | 11.94 | 3.24 | 4.98 | 55.57 | |
| Kimodo-SMPLX-RPRobot Model Configuration=SMPLX, Retargeting Method=RP2026.06 | 38.44 | 1.31 | 26.27 | 39.36 | 46.48 | 1.25 | 4.52 | 189.39 | 43.51 | 198.96 | 7.8 | 2.64 | 2.64 | 23.63 | |
| GENMORetargeting Method=GMR [41]2026.06 | 43.78 | 1.33 | 12.99 | 23.83 | 30.86 | 1.28 | 2.66 | 173.54 | 50.35 | 150.71 | 6.91 | 2.51 | 1.46 | 29.1 | |
| Kimodo-G1-RPRobot Model Configuration=Unitree G1, Retargeting Method=RP2026.06 | 46.36 | 1.32 | 25.59 | 36.13 | 44.63 | 1.21 | 3.92 | 81.44 | 37.25 | 125.04 | 5.72 | 1.68 | 1.46 | 19.14 | |
| Kimodo-G1-SEEDRobot Model Configuration=Unitree G1, Retargeting Method=SEED2026.06 | 50.22 | 1.33 | 22.46 | 33.69 | 41.11 | 1.2 | 4.3 | 99.47 | 37.26 | 161.63 | 6.38 | 1.84 | 1.56 | 20.7 |