Organizations: 1Nankai University · 3Galbot · 2Tsinghua University · 4Shanghai Jiao Tong University · 5Peking University · 6Shanghai Qi Zhi Institute
Abstract
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Humanoid general motion tracking requires policies that can follow diverse whole-body references while maintaining balance. Building such policies involves many practical design choices, and their individual effects are often hard to assess. We address this issue with an empirical study of common modeling and training factors used in recent humanoid motion-imitation pipelines. To make the study controlled and reproducible, we developed YAHMP, an open-source modular framework for training, evaluating, and deploying whole-body motion tracking policies on the Unitree G1. Within YAHMP, we define a nominal configuration and compare variants that differ in motion-command representation, observation history, action representation, actuation profile, hand-force randomization during training, and training approach. We evaluate the resulting policies on a test set of retargeted human motions and compare the nominal policy with TWIST2 as an external baseline trained on the same motion set. The results distinguish choices with clear tracking effects from choices that mainly change actuation effort, training complexity, or physical interaction capability. Finally, we deploy YAHMP policies zero-shot on the real Unitree G1, demonstrating diverse whole-body motion tracking, balance under external perturbations, and forceful interaction.
In this report, we present HoloMotion-1, a humanoid motion foundation model for zero-shot whole-body motion tracking. A key innovation of HoloMotion-1 is to scale control-policy training with a large-scale hybrid motion corpus, where video-reconstructed motions from in-the-wild videos provide the dominant source of motion diversity, while curated motion-capture and in-house motion data provide higher-fidelity supervision and deployment-oriented coverage. This data regime enables HoloMotion-1 to move beyond conventional MoCap-only training and exposes the policy to substantially broader behaviors, capture conditions, and motion styles. Learning from such heterogeneous data introduces new challenges, including reconstruction noise, source-domain mismatch, uneven motion quality, and the need for temporal modeling under large behavioral variation. To address these challenges, HoloMotion-1 integrates large-capacity temporal modeling, a sparsely activated Mixture-of-Experts Transformer with KV-cache inference for real-time control, and a sequence-level training strategy that improves learning efficiency on extended motion sequences. Extensive experiments on multiple unseen motion benchmarks show that HoloMotion-1 generalizes robustly across diverse motion types and capture conditions, significantly improves tracking accuracy over prior methods, and transfers directly to a real humanoid robot without task-specific fine-tuning.
Humanoid motion trackers can reproduce diverse whole-body motions, but their performance degrades on complex terrain where terrain-agnostic references become physically infeasible. We present PGMT, a Perceptive General Motion Tracking pipeline for humanoid robots that learns terrain adaptation from independently selected motion references and terrains. PGMT first learns a general tracking and recovery prior, then incorporates terrain perception through motion-conditioned terrain glimpses that selectively encode regions relevant to the current motion. Terrain-aware tracking relaxation allows necessary deviations from the reference while preserving its motion intent. Zero-shot deployment on a Unitree G1 demonstrates robust terrain-adaptive locomotion and whole-body motion execution over real-world terrain with obstacles up to 37 cm high, while supporting teleoperation, dynamic motion tracking, and fall recovery. PGMT extends general humanoid motion tracking beyond flat ground, providing a unified policy for terrain-adaptive locomotion, diverse whole-body behaviors, and teleoperation in complex environments. Project homepage: https://luyili.github.io/pgmt/