EVALUATION RECORD
ScaleBFM M
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
25 / 40motions passedCompletion 77.97%
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 |
| 52.48 | 51.62 | 1637.60 | 46.82 | 46.45 | 1255.57 |
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
88d5a79946c03ed25503f48b2af71d16290844ef066ca9b6c8fa8dc3837422e3- Evaluation code
- MotionChallenge-scalebfm-m
- Verification
- Both trajectory ranges recomputed · repeatability checked
- Deployment comparison (reference-root initialization)
- 160 inputs · 4 resets · Report ↗ · Comparison code ↗
Reproduce this run
git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-scalebfm-m.git
cd MotionChallenge-scalebfm-m
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗