SOURCE-LINKED INTELLIGENCE
PGMT: Perceptive General Motion Tracking for Humanoid Robots
Humanoid motion trackers can reproduce diverse whole-body motions, but their performance degrades on complex terrain where terrain-agnostic references become physically infeasible. We present PGMT, a Perceptive General Motion Tracking pipeline for humanoid robots that learns terrain adaptation from independently selected motion references and terrains. PGMT first learns a general tracking and recovery prior, then incorporates terrain perception through motion-conditioned terrain glimpses that selectively encode regions relevant to the current motion. Terrain-aware tracking relaxation allows ne
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-08T09:57:32.000Z
First collected: 2026-09-20T20:22:01.598Z. This is not the publication date.