Berkeley Humanoid

Run

Verdict

pass

CoM start

0.430 m

CoM min

0.421 m (97.9%)

CoM end

0.421 m (97.9%)

Base z start / min / end

0.515 / 0.503 / 0.503 m

Base drift

-1.2 cm

Max tilt

4.5°

Completed 10 s

yes

Diverged

no

Real-time factor

49.01× (0.2 s wall)

Load

1299 ms

Runs the full 10 s without a physics reset, the centre of mass never drops below 80% of its start height, and it ends within 10% of the start. Base drift is reported alongside.

Model

Repo

google-deepmind/mujoco_menagerie/berkeley_humanoid

Commit

c96a32d28fb5da84da38c1da4d749e7a13212855

Entry

scene.xml

License

BSD-3-Clause

Size

27.2 MB

Mass

16.06 kg

Actuators

12

Timestep

0.002 s

Keyframe

home

Balance joints

4

Runtime flags

none

Meshes

as published

Reproduce this row

pnpm --filter @hs/engine engine coach --only berkeley_humanoid