Every night, we train a policy to imitate a reference motion on the Unitree G1 using the latest MJLab commit. The trained policy is then evaluated across 1024 trials, with the results logged here to catch regressions over time.
| Date | Commit | Run | Success Rate | MPKPE (m) | EE Pos Error (m) |
|---|
Measures simulation throughput (steps per second) for different tasks.
Physics FPS is raw MuJoCo stepping speed (just mj_step).
Env FPS is the full environment step including observations, rewards,
terminations, and resets. Overhead is the percentage slowdown from
environment logic on top of physics.
Note: These benchmarks use zero actions, which causes frequent terminations and resets. This represents a worst-case scenario for overhead since resets are expensive.
| Date | Commit | Task | Physics FPS | Env FPS | Overhead |
|---|