EVALUATION RECORD
UFO FB-CPR-Aux 192M
LAFAN1 × G1 29DoF · Ideal proprioception · no global position
Evaluated by MotionChallenge using the shared protocol.
Results
25 / 40motions passedCompletion 76.35%
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 |
| 214.72 | 71.94 | 5721.47 | 187.31 | 67.02 | 4707.51 |
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
fe58bf17427679a0f0a22ad5f05d7579373a365936154770f31e815e8f0e4ad7- Evaluation code
- MotionChallenge-ufo
- 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-ufo.git
cd MotionChallenge-ufo
uv sync
uv run evaluate.pyRuns the full benchmark and verifies the saved trajectories.
Complete results, source & verification (JSON) ↗