# Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking

arXiv: https://arxiv.org/abs/2606.03985 · HTML: https://mlsanity.com/paper/2606.03985/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 45 references that are in the map.
- First posted on arXiv 2 Jun 2026.

## Builds on (most cited first, 30 of 35)

- [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)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Emergent Abilities of Large Language Models](https://mlsanity.com/paper/2206.07682/) (2022)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [Robust Motion In-betweening](https://mlsanity.com/paper/2102.04942/) (2021)
- [Motion-X: A Large-scale 3D Expressive Whole-body Human Motion Dataset](https://mlsanity.com/paper/2307.00818/) (2023)
- [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)
- [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://mlsanity.com/paper/2508.08241/) (2025)
- [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://mlsanity.com/paper/2307.04577/) (2023)
- [Expressive Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2402.16796/) (2024)
- [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://mlsanity.com/paper/2502.01143/) (2025)
- [Universal Humanoid Motion Representations for Physics-Based Control](https://mlsanity.com/paper/2310.04582/) (2023)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control](https://mlsanity.com/paper/2511.07820/) (2025)
- [ExBody2: Advanced Expressive Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.13196/) (2024)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://mlsanity.com/paper/2510.02252/) (2025)
- [OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction](https://mlsanity.com/paper/2509.26633/) (2025)
- [Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data](https://mlsanity.com/paper/2507.07095/) (2025)
- [KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills](https://mlsanity.com/paper/2506.12851/) (2025)
- [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://mlsanity.com/paper/2506.08931/) (2025)
- [UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots](https://mlsanity.com/paper/2507.07356/) (2025)
- [Track Any Motions under Any Disturbances](https://mlsanity.com/paper/2509.13833/) (2025)
- [Motion-X++: A Large-Scale Multimodal 3D Whole-body Human Motion Dataset](https://mlsanity.com/paper/2501.05098/) (2025)

## Built on by (most cited first, 5 of 5)

- [ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation](https://mlsanity.com/paper/2608.06375/) (2026)
- [GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking](https://mlsanity.com/paper/2608.01410/) (2026)
- [HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark](https://mlsanity.com/paper/2608.13555/) (2026)
- [Human-Centric Intelligence in the Era of Foundation Models: A Survey](https://mlsanity.com/paper/2608.18184/) (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)

## Abstract (arXiv)

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 constrained by scarce data and an agility-generalization trade-off, Humanoid-GPT is pre-trained on a 2B-frame retargeted corpus that unifies all major mocap datasets with large-scale in-house recordings. Scaling both data and model capacity yields a single generative Transformer that tracks highly dynamic behaviors while achieving unprecedented zero-shot generalization to unseen motions and control tasks. Extensive experiments and scaling analyses show that our model establishes a new performance frontier, demonstrating robust zero-shot generalization to unseen tasks while simultaneously tracking highly dynamic and complex motions.