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ResearchFormerly WizWand

Humanoid Locomotion

Benchmarks

DatasetSOTA methodMetricTrendResultsLast updated

Humanoid Randomized Task (OOD Sweep)

-3.58Reward

24

Mar 24, 2026

Simulation Plane

100Success Rate (Rsucc)

10

Mar 18, 2026

Slope bridge unseen (test)

100Success Rate

8

May 13, 2026

RDT-Bench Average

Now You See That

98.9Success Rate

8

Feb 26, 2026

RDT-Bench Platform

Now You See That

98.4Success Rate (SR)

8

Feb 26, 2026

Now You See That

99.3Success Rate

8

Feb 26, 2026

RDT-Bench Stairs Down

Now You See That

98.6Success Rate

8

Feb 26, 2026

RDT-Bench Stairs Up

Now You See That

99.2Success Rate

8

Feb 26, 2026

IsaacLab Unitree G1 Flat terrain, κ=4.0

5,473Return

6

May 7, 2026

IsaacLab Unitree H1 Rough terrain, κ≈2.2

37.14Return

6

May 7, 2026

Unitree G1 Locomotion Isaac Gym (Simulation)

0.79Average Stride

6

Mar 26, 2026

Simulation Narrow Gate

80Success Rate (Rsucc)

5

Mar 18, 2026

Simulation Pole

98Success Rate

5

Mar 18, 2026

Simulation Beam

96.67Success Rate (Rsucc)

5

Mar 18, 2026

Simulation Hurdle

90Success Rate (Rsucc)

5

Mar 18, 2026

Simulation Jump

98.67Success Rate (Rsucc)

5

Mar 18, 2026

Walking motion random velocity command 1,024 environments

Hard-nullspace SILC

3.03Action Jitter

5

Mar 18, 2026

Multi-Terrain Simulation Environments (test)

Hiking in the Wild (Walk)

0.85Velocity Score

4

Jun 4, 2026

Unitree G1 Simulation v1 (test)

5.965Max Velocity (m/s)

4

May 28, 2026

Wave unseen (test)

100Success Rate

4

May 13, 2026

Balancing Beam unseen (test)

96.35Success Rate

4

May 13, 2026

Terrain In-distribution (deterministic evaluation)

4.82Cumulative Reward

4

Mar 24, 2026

Randomized In-distribution (deterministic evaluation)

5.32Cumulative Reward

4

Mar 24, 2026

Push In-distribution (deterministic evaluation)

5.01Cumulative Reward

4

Mar 24, 2026

Flat In-distribution (deterministic evaluation)

5.02Cumulative Reward

4

Mar 24, 2026