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
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ethics.ai (13 August 2026), “HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark,” evidence record 19156, https://ethics.ai/record/19156 (originally published by arXiv).
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