# Diverse Humanoid Robot Pose Estimation from Images Using Only Sparse Datasets
## 5 Results and Evaluation
### Qualitative Evaluation on Target Humanoid Robots  
In this section, we present a comprehensive qualitative evaluation of each target humanoid robot, accompanied by an analysis of the overall applicability of our pose estimation method. The full-body pose estimation results for various humanoid robots are shown in Figures 1 and 8. For _Optimus Gen 2_, as displayed in Figure 1a, our method consistently estimates poses over approximately 30 s of walking motions, covering front, side, and back views. In the case of _Toro_, shown in Figure 8j, our approach accurately estimates poses from a back view, despite this perspective not being included in the training data. The presented results for 11 target humanoid robots show that even with sparse datasets, the method demonstrates reliable full-body pose estimation for more than 10 types of humanoid robots, capturing front, side, back, and partial views. For additional results, refer to the accompanying video showcasing pose estimation from videos [11]. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline
**Class** & **Model** & \(\mathbf{mAP^{obj}}\) & \(\mathbf{AP^{55}}\) & \(\mathbf{AP^{85}}\) & \(mAR^{obj}\) & \(AR^{75}\) & \(AR^{85}\) \\ \hline
**Total** & **7-stage HG** & **87.4** & **95.3** & **86.2** & **81.5** & **88.6** & **74.4** \\ \hline Apollo & 7-stage HG & 90.0 & 97.5 & 92.4 & 83.6 & 89.8 & 79.7 \\ Atlas & 7-stage HG & 87.7 & 95.0 & 88.7 & 83.1 & 91.5 & 76.6 \\ Darwin Op & 7-stage HG & 84.1 & 87.3 & 81.3 & 82.6 & 86.6 & 80.6 \\ Eve & 7-stage HG & 83.6 & **100** & 90.0 & 82.1 & **99.0** & 85.0 \\ Figure01 & 7-stage HG & 72.3 & 85.6 & 54.1 & 69.5 & 79.5 & 50.7 \\ H1 & 7-stage HG & 95.9 & 99.1 & **98.2** & **91.6** & 97.3 & **94.5** \\ Kepler & 7-stage HG & 95.4 & 97.1 & 97.1 & 90.1 & 95.6 & 89.0 \\ Optimus Gen2 & 7-stage HG & 86.1 & 92.6 & 82.2 & 76.6 & 82.2 & 67.4 \\ Phoenix & 7-stage HG & 86.9 & 99.4 & 84.5 & 72.1 & 76.8 & 51.2 \\ Talos & 7-stage HG & 91.1 & **100** & 97.2 & 87.8 & 98.1 & 89.8 \\ Toro & 7-stage HG & 91.5 & 98.1 & 91.1 & 84.3 & 88.6 & 72.2 \\ \hline \hline \end{tabular}
\end{table} 
Table 16: Evaluation of each target humanoid robot on the DHRP test set by object, using 7-stage hourglass networks and the evaluation metrics \(mAP^{obj}\) and \(mAR^{obj}\). The best results are highlighted in bold, while the worst are underlined. \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline
**Class** & **Model** & **Nose** & **Neck** & **Sho** & **Elb** & **Wri** & **Hip** & **Knee** & **Ank** & \(mAR^{int}\) \\ \hline
**Total** & **7-stage HG** & **92.1** & **91.1** & **91.2** & **80.6** & **75.5** & **92.4** & **88.0** & **86.2** & **87.1** \\ \hline Apollo & 7-stage HG & 92.6 & 93.2 & 91.9 & 83.1 & 71.4 & 95.8 & 84.2 & 98.5 & 88.8 \\ Atlas & 7-stage HG & 93.8 & 91.8 & 93.0 & 75.6 & 70.9 & 92.6 & 91.4 & 91.4 & 87.6 \\ Darwin Op & 7-stage HG & 92.7 & 83.9 & 91.0 & 78.0 & 79.8 & **98.4** & 94.8 & 81.6 & 87.5 \\ Eve & 7-stage HG & 95.4 & 93.4 & 93.4 & 83.8 & 68.9 & 79.5 & 78.3 & 74.1 & 83.3 \\ Figure01 & 7-stage HG & 92.7 & 89.8 & 88.6 & 61.5 & 53.2 & 82.1 & 71.5 & 69.6 & 76.1 \\ H1 & 7-stage HG & 88.8 & 90.9 & **96.1** & **95.0** & 87.4 & 95.4 & **94.9** & 95.5 & **93.0** \\ Kepler & 7-stage HG & 94.2 & 94.1 & 91.3 & 93.0 & **89.8** & 97.2 & 84.1 & **99.3** & 92.9 \\ Optimus Gen2 & 7-stage HG & 86.9 & 93.1 & 85.4 & 80.9 & 77.7 & 92.6 & 80.0 & 95.3 & 86.5 \\ Phoenix & 7-stage HG & **98.5** & **98.5** & 91.9 & 66.3 & 61.5 & 90.5 & N/A & N/A & 84.5 \\ Talos & 7-stage HG & 79.4 & 85.2 & 93.2 & 89.4 & 89.2 & 94.9 & 90.6 & 89.8 & 89.0 \\ Toro & 7-stage HG & 91.7 & 87.0 & 89.4 & 90.7 & 87.4 & 89.8 & 94.7 & 82.4 & 89.1 \\ \hline \hline \end{tabular}
\end{table} 
Table 17: Evaluation of each target humanoid robot on the DHRP test set by joint, using 7-stage hourglass networks with \(mAR^{int}\) as the evaluation metric. The best results are highlighted in bold, while the worst are underlined. Note: The Phoenix robot lacks lower-body data in the dataset.