Unitree G1 Skeleton setting

Text-to-Motion Leaderboard

Direct G1-native generation measured in the robot's own motion space. This setting uses the same page contract as the SMPL Skeleton setting while keeping its evaluator, representation, and ranking isolated.

29 actuated jointsCanonical g1_38 · 30 fps · no SMPL round trip
Best normalized FID
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Best R@1
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Evaluated methods
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GT excluded
Protocol coverage
1,024
Fixed selected-caption cases
Evaluator
TMR-G1 epoch 139Robot-native latent space
Retrieval
Groups of 3220 deterministic repeats
Motion
g1_38 · 30 fpsNative Unitree G1 coordinates
FID
Per-sample L2 normalizedMean and covariance after normalization

Method Comparison

Generated methods only. GT is retained as a reference and excluded from ranking.

Normalized FID

Generated-method ranking

Choose one metric; the best generated method is highlighted.

Normalized profile

100 is the best generated-method value on each axis; GT is excluded.

All-case Motion Comparison

64 fixed cases · synchronized, orbitable Unitree G1 meshes · lazy loaded

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Comparable Snapshot

Every generated row below uses the same fixed manifest, evaluator checkpoint, and normalized-FID protocol. Sample coverage is reported per row.

Protocol matched
MethodSamplesR@1 ↑R@2 ↑R@3 ↑Normalized FID ↓MM-Dist ↓Diversity
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