HumanTracker

HumanTracker (with HumanScore)

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Scores humanoid motion trackers in MuJoCo on 153 hours of mocap by success, pose error and a learned preference metric.1

Sources
Last checked 10 Oct 2026Basic entry15 of 17 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation1
Checked against real robots
Not checked
Skill
Walking and balance
Robot
Humanoid2
Licence
Unclear3

Comparisons with real robots

Not checked4

Details

All evaluation in MuJoCo on one 29-DoF humanoid. Paper says results are not evidence of hardware robustness; real hardware is future work. The repo's 'sim2real' backend is a third-party policy runtime that still runs in MuJoCo.

Details

About

What it is
Benchmark Inferred1
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Classified by the Atlas from how the authors describe and distribute it.

Built by
Nankai University, Tsinghua University, Galbot, Shanghai Jiao Tong University, Peking University, Shanghai Qi Zhi Institute. Code and data hosted under Galbot's GitHub/HF org (GalaxyGeneralRobotics).5
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builder_type set to academic; it is a mixed academic + robot-company effort.

Released
2026-08 (GitHub repo created 2026-08-11; arXiv v1 2026-08-13; HF dataset created 2026-08-14).1
Version
arXiv v1; repository has no tags or releases.5
Last update
2026-09-28: nine additional released G1 trackers evaluated; 2026-08-22: SONIC 1.1 evaluated; last commit 2026-09-30.5

Setup

Runs in
Simulation1
Robot
Humanoid2
Setting
Unknown4
Size
Unknown42
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Table 7: Daily 9,739 traj / 89.29 h; Highly Dynamic 2,676 / 11.01 h; Ground 1,640 / 4.59 h; Interaction 10,940 / 47.78 h; total 24,995 trajectories, 27,480,590 frames, 152.67 h; 24 professional performers.4

HF release contains the test split only (2,500 clips: Daily 974, Highly Dynamic 268, Interaction 1,094, Ground 164) plus 6,000 preference pairs (4,800 train / 1,200 test, 10 GB).2

Preference data: 6 doctoral researchers annotated 6,000 original pairs, mirrored to 12,000 records. Abstract says '12K motion pairs containing 24K motions'.4

Scoring and access

Scored by
Success rate, Fidelity, Automatic judge5
Leaderboard
Official leaderboard5
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Classified 'official' because it is a maintained public page beyond the paper; it is organiser-run, not open submission.

Code licence
Apache-2.0 (LICENSE file).3
Data licence
Apache-2.0 (HF dataset card).2
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Project page footer licence CC BY-SA 4.0 is for the site template, not the data.

Sources 5

  1. 1HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking BenchmarkPaper · Aug 2026 · checked 10 Oct 2026
  2. 2GalaxyGeneralRobotics/HumanTracker on Hugging Face (dataset)Official site · checked 10 Oct 2026
  3. 3GalaxyGeneralRobotics/HumanTracker on GitHub (blob)Repository · checked 10 Oct 2026
  4. 4HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark (full text)Paper · Aug 2026 · checked 10 Oct 2026
  5. 5GalaxyGeneralRobotics/HumanTracker on GitHub (repository)Repository · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).