EVALUATION RECORD
SONIC v1.1
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
26 / 40motions passedCompletion 81.43%
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 |
| 116.97 | 108.54 | 2035.92 | 44.61 | 40.82 | 1540.55 |
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
34bae8570d4a4421a5391a5c2befd745d4a02d182ec539e5f9da44c091c67509- Evaluation code
- MotionChallenge-sonic-v1-1
- 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-sonic-v1-1.git
cd MotionChallenge-sonic-v1-1
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗