EVALUATION RECORD
TWIST2 1017-20k
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
7 / 40motions passedCompletion 45.59%
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 |
| 429.74 | 341.01 | 5313.39 | 153.59 | 51.74 | 3150.92 |
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
2d1fb3a31e4e967f70ecfefc3ad1e7b2ac491677068b89f60b565a94e7735061- Evaluation code
- MotionChallenge-twist2
- Verification
- Both trajectory ranges recomputed · repeatability checked
- Deployment comparison (sim2real configuration)
- 160 inputs · 4 resets · Report ↗ · Comparison code ↗
Reproduce this run
git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-twist2.git
cd MotionChallenge-twist2
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗