EVALUATION RECORD
HoloMotion v2.0.0
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
22 / 40motions passedCompletion 77.04%
Success and completion use the first declared failure. MPBPE measures position errors over the benchmark’s declared body origins, with three alignments over two time ranges.
| Entire motion | Until first failure | ||||
|---|---|---|---|---|---|
| XY only | XY + yaw | No alignment | XY only | XY + yaw | No alignment |
| 155.12 | 140.55 | 2274.84 | 46.72 | 40.45 | 1687.09 |
Entire-motion errors include every frame through the endpoint, including post-failure states. The other range ends at the first failing sample, including that sample.
- Benchmark
- LAFAN1 × G1 29DoF · Ideal proprioception · no global position
- Engine
- MuJoCo 3.17.0 · official CPU batch
- Checkpoint SHA256
b0681976135eed572d1d20aefc52ec65c149bdc636f2594a6436fa7136a3fc86- Evaluation code
- MotionChallenge-holomotion-v2-0-0
- Verification
- Both trajectory ranges recomputed · repeatability checked
- Inference comparison
- 160 inputs · 4 resets · Report ↗ · Comparison code ↗
Reproduce this run
git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-holomotion-v2-0-0.git
cd MotionChallenge-holomotion-v2-0-0
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗