Humanoid Generative Pre-Training for Zero-Shot Motion Tracking

Zekun Qi, Xuchuan Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian, Wenyao Zhang, Xinqiang Yu, He Wang, Li Yi; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026, pp. 20834-20844

We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrained by scarce data and an agility-generalization trade-off, Humanoid-GPT is pre-trained on a 2B-frame retargeted corpus that unifies all major mocap datasets with large-scale in-house recordings. Scaling both data and model capacity yields a single generative Transformer that tracks highly dynamic behaviors while achieving unprecedented zero-shot generalization to unseen motions and control tasks. Extensive experiments and scaling analyses show that our model establishes a new performance frontier, demonstrating robust zero-shot generalization to unseen tasks while simultaneously tracking highly dynamic and complex motions.