HumEnv

HumEnv benchmark

How to read this picture

Simulated SMPL humanoid environment with reward, goal-reaching and motion-tracking test suites for whole-body control policies.1

Sources
Last checked 10 Oct 2026Basic entry11 of 15 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Walking and balance
Robot
Game character1
Licence
Unclear3

Comparisons with real robots

Not checked4

Details

Simulated SMPL character only.

Details

About

What it is
Benchmark Inferred2
More

Classified by the Atlas from how the authors describe and distribute it.

Built by
Meta FAIR (same authors as Meta Motivo paper).1
Released
2024-12-16 (tag v0.1.0).5
Version
v0.2.0.5
Last update
2025-04-22, v0.2.0: fixes to benchmark distance-matrix metric and actuator range. Last push 2025-04-22.5
Status
No commits since 2025-04-22 (about 18 months before check date). Inferred1
More

Dormant by activity.

Setup

Runs in
Simulation Inferred2
More

Classified by the researcher from the primary page; no separate fact row.

Robot
Game character1
Size
Paper protocol: 45 reward functions, 50 manually selected goal poses, tracking on AMASS test split (990 motions, ~3 h; train 8,902 motions, ~29 h). Repo: 9 configurable reward classes.4

Scoring and access

Scored by
Reward, Success rate, Fidelity4
Leaderboard
None. Scores are only in papers.1
Code licence
CC BY-NC 4.0 (LICENSE file).3
Data licence
Tracking and MoCap initialisation need SMPL model and AMASS datasets downloaded by the user after registration.6
More

AMASS/SMPL licence texts not reviewed here.

Sources 6

  1. 1facebookresearch/humenv on GitHub (repository)Repository · checked 10 Oct 2026
  2. 2Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation ModelsPaper · Apr 2025 · checked 10 Oct 2026
  3. 3facebookresearch/humenv on GitHub (blob)Repository · checked 10 Oct 2026
  4. 4Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models (full text)Paper · Apr 2025 · checked 10 Oct 2026
  5. 5facebookresearch/humenv on GitHub (releases)Repository · checked 10 Oct 2026
  6. 6facebookresearch/humenv on GitHub (file README.md)Repository · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).