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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Ze-Yu Wang

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Preprint Sep 2026

PGMT: Perceptive General Motion Tracking for Humanoid Robots

Perceptive General Motion Tracking pipeline for humanoid robots that learns terrain adaptation from independently selected motion references and terrains, providing a unified policy for terrain-adaptive locomotion, diverse whole-body behaviors, and teleoperation in complex environments.

Hong-Yi Li, Pei-Zhuo Li, Yu-Cheng Tao et al. · 2 citations

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