mlsanityData to 7 Oct 2026

GMT: General Motion Tracking for Humanoid Whole-Body Control

arXiv 2506.14770 ↗First posted 17 Jun 2025cs.ROcited by 72

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Abstract (arXiv)

The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots. However, achieving this can be challenging due to the temporal and kinematic diversity of the motions, the policy's capability, and the difficulty of coordination of the upper and lower bodies. To address these issues, we propose GMT, a general and scalable motion-tracking framework that trains a single unified policy to enable humanoid robots to track diverse motions in the real world. GMT is built upon two core components: an Adaptive Sampling strategy and a Motion Mixture-of-Experts (MoE) architecture. The Adaptive Sampling automatically balances easy and difficult motions during training. The MoE ensures better specialization of different regions of the motion manifold. We show through extensive experiments in both simulation and the real world the effectiveness of GMT, achieving state-of-the-art performance across a broad spectrum of motions using a unified general policy. Videos and additional information can be found at https://gmt-humanoid.github.io.

Key facts. Cited by 72 papers in the map (data through 7 Oct 2026). First posted on arXiv 17 Jun 2025.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 21; 2026: 51.

72 papers.

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  1. 2025BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusioncited by 128
  2. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 83
  3. 2025TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection Systemcited by 39
  4. 2025ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learningcited by 34
  5. 2025WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Controlcited by 32
  6. 2025From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidancecited by 17
  7. 2026TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Controlcited by 14
  8. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 13
  9. 2026Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matchingcited by 13
  10. 2025KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Controlcited by 11
  11. 2025DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulationcited by 10
  12. 2026FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructionscited by 10
38 more
  1. 2026HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videoscited by 10
  2. 2026HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulationcited by 10
  3. 2026ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulationcited by 9
  4. 2026HoloMotion-1 Technical Reportcited by 8
  5. 2025SoftMimic: Learning Compliant Whole-body Control from Examplescited by 7
  6. 2025SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Controlcited by 7
  7. 2025Towards Adaptable Humanoid Control via Adaptive Motion Trackingcited by 6
  8. 2025RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotioncited by 6
  9. 2025GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interactioncited by 5
  10. 2025From Generated Human Videos to Physically Plausible Robot Trajectoriescited by 5
  11. 2025CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbationcited by 5
  12. 2026Deep Whole-body Parkourcited by 5
  13. 2026Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrationscited by 5
  14. 2026PolicyFlow: Policy Optimization with Continuous Normalizing Flow in Reinforcement Learningcited by 5
  15. 2026MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstructioncited by 5
  16. 2026ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Datacited by 5
  17. 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Controlcited by 5
  18. 2026MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitivescited by 5
  19. 2026ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulationcited by 5
  20. 2025Coordinated Humanoid Manipulation with Choice Policiescited by 4
  21. 2026ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Controlcited by 4
  22. 2026CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperationcited by 4
  23. 2026Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Trackingcited by 4
  24. 2026OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulationcited by 4
  25. 2026SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interactioncited by 4
  26. 2026SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gatingcited by 3
  27. 2025A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargetingcited by 2
  28. 2025RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Trackingcited by 2
  29. 2026PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Trackingcited by 2
  30. 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priorscited by 2
  31. 2026VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenescited by 2
  32. 2026Scaling Behavior Foundation Model for Humanoid Robotscited by 2
  33. 2026PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeballcited by 2
  34. 2025Feature-Based vs. GAN-Based Learning from Demonstrations: When and Whycited by 1
  35. 2026PDF-HR: Pose Distance Fields for Humanoid Robotscited by 1
  36. 2026AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimationcited by 1
  37. 2026Learning to Assist: Physics-Grounded Human-Human Control via Multi-Agent Reinforcement Learningcited by 1
  38. 2026HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memorycited by 1

50 most cited of 72 All 72 (JSON)