Whole-body humanoid tracking performance across different motion data sources. (a) Success rates under matched 3-hour and 20-hour data budgets. (b) Training failure-rate curves averaged over five independent runs, with shaded regions indicating variance. HiPHI achieves faster convergence and lower final failure rates across different data scales.
Whole-body humanoid tracking performance across different motion data sources. (a) Success rates under matched 3-hour and 20-hour data budgets. (b) Training failure-rate curves averaged over five independent runs, with shaded regions indicating variance. HiPHI achieves faster convergence and lower final failure rates across different data scales.