# HoloMotion-1 Technical Report

arXiv: https://arxiv.org/abs/2605.15336 · HTML: https://mlsanity.com/paper/2605.15336/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 27 references that are in the map.
- First posted on arXiv 14 May 2026.

## Builds on (most cited first, 26 of 26)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Root Mean Square Layer Normalization](https://mlsanity.com/paper/1910.07467/) (2019)
- [GQA: Training Generalized Multi-Query Transformer Models from Multi-Head Checkpoints](https://mlsanity.com/paper/2305.13245/) (2023)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [Action2Motion: Conditioned Generation of 3D Human Motions](https://mlsanity.com/paper/2007.15240/) (2020)
- [Gated Attention for Large Language Models: Non-linearity, Sparsity, and Attention-Sink-Free](https://mlsanity.com/paper/2505.06708/) (2025)
- [Query-Key Normalization for Transformers](https://mlsanity.com/paper/2010.04245/) (2020)
- [Robust Motion In-betweening](https://mlsanity.com/paper/2102.04942/) (2021)
- [Perpetual Humanoid Control for Real-time Simulated Avatars](https://mlsanity.com/paper/2305.06456/) (2023)
- [Object Motion Guided Human Motion Synthesis](https://mlsanity.com/paper/2309.16237/) (2023)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting](https://mlsanity.com/paper/2409.14393/) (2024)
- [SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control](https://mlsanity.com/paper/2511.07820/) (2025)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [Humanoid Locomotion as Next Token Prediction](https://mlsanity.com/paper/2402.19469/) (2024)
- [Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data](https://mlsanity.com/paper/2507.07095/) (2025)
- [H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation](https://mlsanity.com/paper/2507.23523/) (2025)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [Track Any Motions under Any Disturbances](https://mlsanity.com/paper/2509.13833/) (2025)
- [From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2506.12779/) (2025)
- [KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control](https://mlsanity.com/paper/2509.16638/) (2025)

## Built on by (most cited first, 8 of 8)

- [Scaling Behavior Foundation Model for Humanoid Robots](https://mlsanity.com/paper/2607.15163/) (2026)
- [HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory](https://mlsanity.com/paper/2606.23565/) (2026)
- [Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking](https://mlsanity.com/paper/2605.23733/) (2026)
- [DeepInsight II: One Trace from Benchmark to Robot](https://mlsanity.com/paper/2608.16556/) (2026)
- [GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction](https://mlsanity.com/paper/2608.18234/) (2026)
- [PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control](https://mlsanity.com/paper/2609.24840/) (2026)
- [Humanoid Loco-Manipulation With Discrete VLA Model](https://mlsanity.com/paper/2609.35709/) (2026)
- [ECHO-G: Embodied Co-speech Humanoid mOtion Generation](https://mlsanity.com/paper/2609.39575/) (2026)

## Abstract (arXiv)

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.