2 papers
cs.RO2026
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
Dairu Liu, Zekun Qi, Jiayu Zeng +11
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-fram…
cs.RO2026
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
Zekun Qi, Xuchuan Chen, Dairu Liu +10
We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrai…