HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
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 perf...
| Authors | Dairu Liu, Zekun Qi, Jiayu Zeng et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 August 2026 |
| Last updated at source | 13 August 2026 |
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