EVALUATION RECORD
MOSAIC GMT
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
11 / 40motions passedCompletion 54.64%
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 |
| 305.64 | 289.47 | 2587.20 | 63.82 | 62.71 | 1277.90 |
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
d6e124126a1b3e4fd3cc75e820fc0a4e170aa66ab297290fa1a3f1495fa07f3d- Evaluation code
- MotionChallenge-mosaic
- 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-mosaic.git
cd MotionChallenge-mosaic
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗