UC Berkeley (Hybrid Robotics) · stand-hold-v2 · 2026-10-11
Berkeley Humanoid Lite
Run
- Verdict
- pass
- CoM start
- 0.445 m
- CoM min
- 0.441 m (99.0%)
- CoM end
- 0.442 m (99.2%)
- Base z start / min / end
- -0.037 / -0.042 / -0.041 m
- Base drift
- -0.3 cm
- Max tilt
- 0.0°
- Completed 10 s
- yes
- Diverged
- no
- Real-time factor
- 21.60× (0.5 s wall)
- Load
- 2623 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
- HybridRobotics/berkeley-humanoid-lite-assets/data/robots/berkeley_humanoid/berkeley_humanoid_lite
- Commit
- fc90fedd008b1e56a22e3c5221548d6b24f49707
- Entry
- mjcf/berkeley_humanoid_lite.xml
- License
- CC-BY-SA-4.0
- Size
- 43.4 MB
- Mass
- 16.33 kg
- Actuators
- 22
- Timestep
- 0.002 s
- Keyframe
- hs_stand
- Balance joints
- 4
- Runtime flags
- none
- Meshes
- as published
- Loader changes
- 2 upstream path fixes applied
- stand keyframe computed (hs_stand)
Reproduce this row
pnpm --filter @hs/engine engine coach --only berkeley_humanoid_lite