Meta Motivo study

Meta Motivo human-likeness preference study

How to read this picture

Fifty raters compared videos of two simulated-humanoid policies on 95 tasks for task success and human-likeness.1

Sources
Last checked 10 Oct 2026Basic entry11 of 16 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Moving like people
Robot
Game character1
Licence
Unclear3

Comparisons with real robots

Not checked1

Details

Body is a simulated SMPL humanoid character in MuJoCo; no physical counterpart and no real-robot experiment in the paper.

Details

About

What it is
In-house test Inferred2
More

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

Built by
FAIR at Meta; one author at Mila/McGill (work done at Meta), one at FAIR and UCL.1
Released
2024-12-12 (Meta research publication page).4
Version
arXiv v1; code release tags v0.1.0-v0.1.2 (latest 2025-01-27).5
Last update
No change to the study after arXiv v1 (2025-04-15). Code repo last push 2025-06-10 (bug fix).5

Setup

Runs in
Simulation2
Robot
Game character1
Setting
Unknown1
Size
50 human raters; all 45 reward tasks and 50 goal tasks; two agents compared (TD3 best of 3 seeds vs zero-shot FB-CPR); video positions randomised, agent identity hidden.1

Scoring and access

Scored by
Human preference, Human rating1
More

Not an Elo or Bradley-Terry ranking.

Leaderboard
None. Scores are only in papers.1
Code licence
CC BY-NC 4.0 (LICENSE file of facebookresearch/metamotivo).3
Data licence
Unknown
More

Looked at arXiv abs links, paper text, repo top-level listing.

Sources 5

  1. 1Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models (full text)Paper · Apr 2025 · checked 10 Oct 2026
  2. 2Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation ModelsPaper · Apr 2025 · checked 10 Oct 2026
  3. 3facebookresearch/metamotivo on GitHub (blob)Repository · checked 10 Oct 2026
  4. 4Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models | Research - AI at MetaOfficial blog · checked 10 Oct 2026
  5. 5facebookresearch/metamotivo on GitHub (repository)Repository · checked 10 Oct 2026

Change history

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