PGMT: Perceptive General Motion Tracking for Humanoid Robots

• URL: http://arxiv.org/abs/2609.08511v2
• Date: Wed, 09 Sep 2026 08:20:27 GMT
• Title: PGMT: Perceptive General Motion Tracking for Humanoid Robots
• Abstract summary: PGMT is a pipeline for humanoid robots that learns terrain adaptation from independently selected motion references and terrains.<n>Zero-shot deployment on a Unitree G1 demonstrates robust terrain-adaptive locomotion and whole-body motion execution over real-world terrain.
• Score: 12.745867492642523
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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 necessary deviations from the reference while preserving its motion intent. Zero-shot deployment on a Unitree G1 demonstrates robust terrain-adaptive locomotion and whole-body motion execution over real-world terrain with obstacles up to 37 cm high, while supporting teleoperation, dynamic motion tracking, and fall recovery. PGMT extends general humanoid motion tracking beyond flat ground, providing a unified policy for terrain-adaptive locomotion, diverse whole-body behaviors, and teleoperation in complex environments. Project homepage: https://luyili.github.io/pgmt/

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