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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Robust and Generalized Humanoid Motion Tracking</title>
<meta property="og:type" content="website" />
<meta property="og:image" content="assets/teaser.jpg" />
<meta name="theme-color" content="#0ea5e9" />
<link rel="preconnect" href="https://fonts.googleapis.com">
<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
<link href="https://fonts.googleapis.com/css2?family=Inter:wght@300;400;500;600;800&display=swap" rel="stylesheet">
<style>
:root{
--bg:#fafafa; --card:#ffffff; --muted:#5b6673; --text:#0f172a;
--brand:#0ea5e9; --accent:#f59e0b; --border:rgba(15,23,42,.10);
--ring:0 0 0 3px rgba(14,165,233,.25);
}
*{box-sizing:border-box}
html,body{
margin:0; padding:0; background:var(--bg); color:var(--text);
font-family:Inter,system-ui,Segoe UI,Roboto,Helvetica,Arial,sans-serif;
-webkit-font-smoothing:antialiased; -moz-osx-font-smoothing:grayscale;
}
a{color:var(--brand); text-decoration:none}
a:hover{text-decoration:underline}
/* ====== 方案A：加宽与留白优化 ====== */
.container{max-width:1280px; margin:0 auto; padding:24px} /* 1100 -> 1280 */
header.hero{display:flex; flex-direction:column; gap:24px; align-items:center; text-align:center; padding:48px 0}
.title{font-size:clamp(32px, 5vw, 64px); line-height:1.05; font-weight:800; letter-spacing:.2px} /* 上限 64px */
.subtitle{font-size:clamp(16px,2vw,22px); color:var(--muted)}
.authors{display:flex; flex-wrap:wrap; gap:10px; justify-content:center; font-size:15px}
.aff{font-size:13px; color:var(--muted); margin-top:-6px}
.badges{display:flex; flex-wrap:wrap; gap:10px; justify-content:center}
.btn{
display:inline-flex; align-items:center; gap:8px;
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}
.btn.secondary{background:#eef2ff; color:#3730a3; border-color:#c7d2fe}
.btn:hover{box-shadow:var(--ring)}
.section{margin:32px 0}
h2{font-size:26px; margin:8px 0 12px}
p{color:#1f2937; line-height:1.65}
.section h2{
text-align: center;
font-size: 42px; /* 想更大就调这里 */
font-weight: 700;
margin: 0 0 18px 0;
}
.section h2{
text-align: center;
font-size: 32px; /* 想更大就调这里 */
font-weight: 700;
margin: 0 0 18px 0;
}
.logos{
display:flex;
gap:200px;
justify-content:center;
align-items:center;
flex-wrap:wrap;
margin-top:10px;
}
.logo-item{
position:relative;
display:inline-block;
}
.logo-item img{
height:200px; /* 你可以调大小 */
width:auto;
display:block;
}
.aff-num{
position:absolute;
top:-10px;
right:-10px;
font-size:16px;
font-weight:700;
color:#0f172a;
background:#fff;
border:1px solid rgba(15,23,42,.15);
border-radius:999px;
padding:2px 8px;
line-height:1;
}
.abstract-card{
margin: 0 auto; /* 居中 */
}
/* 标题居中（你已经给 .section h2 居中了，但这里更稳） */
.section-title{
justify-content: center; /* 因为它是 flex */
text-align: center;
}
.card{
background:var(--card);
border:1px solid var(--border);
border-radius:16px; padding:16px; /* 18px -> 16px */
box-shadow:0 1px 2px rgba(0,0,0,.04)
}
.card.flush{padding:0} /* 并排视频更大 */
.grid{display:grid; grid-template-columns:repeat(12,1fr); gap:14px} /* gap 16 -> 14 */
.grid.tight{gap:10px} /* 并排视频更紧凑 */
.video-wrap{position:relative; overflow:hidden; border-radius:16px; border:1px solid var(--border); background:#f6f7f9}
.video-wrap video,.video-wrap iframe{width:100%; height:100%; display:block}
.video-wrap.teaser{aspect-ratio:16/8} /* 16:9 -> 16:8 更高更满 */
.thumb{aspect-ratio:16/9; background:#f3f4f6; object-fit:cover}
.pill{
display:inline-block; background:rgba(14,165,233,.10); color:#0369a1;
border:1px solid rgba(14,165,233,.25); padding:3px 9px; border-radius:999px;
font-size:12px; font-weight:600
}
.kpi{display:flex; gap:16px; flex-wrap:wrap}
.kpi .item{
background:#f0f9ff; border:1px solid rgba(14,165,233,.25);
padding:10px 14px; border-radius:12px; color:#0c4a6e; font-weight:600
}
.paper{
white-space:pre-wrap; background:#f7f7fb; border-radius:12px; padding:14px;
border:1px solid var(--border);
font-family:ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", monospace;
color:#334155
}
footer{opacity:.85; text-align:center; padding:32px 0; color:#6b7280}
.cols-2{grid-column:span 12}
@media (min-width:900px){.cols-2{grid-column:span 6}}
.figure{display:flex; flex-direction:column; gap:8px}
.cap{color:#64748b; font-size:14px}
.split{display:grid; grid-template-columns:1fr; gap:14px}
@media(min-width:960px){.split{grid-template-columns:1.2fr .8fr}}
.mini-grid{display:grid; grid-template-columns:repeat(3,1fr); gap:10px}
@media(max-width:700px){.mini-grid{grid-template-columns:1fr}}
/* ---- Abstract ---- */
.section-title{display:flex; align-items:center; gap:10px; font-size:24px; font-weight:800; margin:0 0 10px}
.section-title .pin{font-size:22px}
.abstract-card{background:var(--card); border:1px solid var(--border); border-radius:16px; padding:18px; box-shadow:0 1px 2px rgba(0,0,0,.04)}
.abstract-text{color:#1f2937; line-height:1.75; font-size:16px; text-align:justify; hyphens:auto}
/* ---- Method figure ---- */
.method-figure { padding: 0; } /* 可选：去掉卡片内边距，让图更大 */
.method-img{
width: 100%;
height: auto;
display: block; /* 去掉图片底部空隙 */
}
/* ===== Results 区域更宽松的间距与层次 ===== */
#results h2 { margin: 12px 0 18px; }
#results h3 { margin: 26px 0 14px; }
/* 行内网格：把并排视频的列间距加大 */
#results .grid.tight { gap: 18px; } /* 原 10px -> 18px */
#results .grid { gap: 18px; } /* 普通 grid 也略放大 */
/* 每个视频块与其下方 caption 的距离 */
#results .video-wrap.teaser { margin-bottom: 10px; }
/* caption 和下一行之间留更多空隙（覆盖你写在标签上的内联 margin） */
#results .cap {
margin-top: 6px !important;
margin-bottom: 24px !important; /* 原 18px -> 24px */
}
/* 适度降低视频高度，整体更疏朗（如需更大可以改回 16/8） */
#results .video-wrap.teaser { aspect-ratio: 16 / 9; } /* 从 16/8 调回 16/9 */
/* 放到 <style> 的末尾，覆盖全局的 .cap */
#results .cap{
font-size:22px; /* 或 18px 更醒目 */
color:#334155; /* 更深一点的灰蓝 */
font-weight:600; /* 半粗，标题感更强 */
text-align:center; /* 并排两列居中（可选） */
margin:6px 0 24px !important; /* 覆盖你内联的 -6px 和 18px（可选） */
}
/* 移动端略微收紧，避免空白过多 */
@media (max-width: 700px){
#results .grid.tight { gap: 14px; }
#results .cap { margin-bottom: 18px !important; }
}
.authors{
justify-content:center;
font-size: 25px; /* 作者整体字号：18/20/22 自己调 */
gap: 12px 22px;
margin-top: 14px;
}
.author{
color: #0ea5e9; /* 蓝色（你主题色 brand） */
font-weight: 600;
}
.author sup{
font-size: 12px;
color: #0ea5e9;
}
.author .note{ color:#0ea5e9; font-weight:800; }
.author-notes{
margin-top:8px;
text-align:center;
color:var(--muted);
font-size:13px;
}
.note{ font-weight:800; margin-left:2px; }
.aff{
margin-top:6px;
font-size:14px;
color:var(--muted);
text-align:center;
}
.footnote{
margin-top:8px;
font-size:13px;
color:var(--muted);
text-align:center;
}
.sep{ margin:0 8px; opacity:.6; }
.overview-video.teaser{
aspect-ratio: 16 / 9 !important; /* 关键：别用 16/8 之类 */
}
/* video 继续用 100% 保证控件不被裁 */
.overview-video video{
width: 100%;
height: 100%;
display: block;
object-fit: contain; /* 不裁剪 */
}
/* ===== 顶部链接按钮（深色胶囊） ===== */
.badges{
display:flex;
flex-wrap:wrap;
gap:20px;
justify-content:center;
margin-top:16px;
}
.badge{
display:inline-flex;
align-items:center;
gap:20px;
padding:10px 16px;
border-radius:999px;
background:#2b2b2b;
color:#fff;
font-weight:700;
font-size:16px;
border:1px solid rgba(255,255,255,.18);
text-decoration:none;
line-height:1;
}
.badge:hover{
text-decoration:none;
transform: translateY(-1px);
box-shadow: 0 8px 20px rgba(0,0,0,.12);
}
.badge .icon{
width:18px;
height:18px;
display:inline-block;
}
</style>
</head>
<body>
<div class="container">
<header class="hero">
<div class="pill">Project Page</div>
<div class="title">Robust and Generalized Humanoid Motion Tracking</div>
<div class="authors">
<span class="author">Yubiao Ma<sup>1</sup><span class="note">†</span></span>
<span class="author">Han Yu<sup>2</sup><span class="note">†</span><span class="note">‡</span></span>
<span class="author">Jiayin Xie<sup>2</sup></span>
<span class="author">Changtai Lv<sup>2</sup></span>
<span class="author">Qiang Luo<sup>2</sup></span>
<span class="author">Chi Zhang<sup>2</sup></span>
<span class="author">Yunpeng Yin<sup>2</sup></span>
<span class="author">Boyang Xing<sup>2</sup><span class="note">‡</span></span>
<span class="author">Xuemei Ren<sup>1</sup></span>
<span class="author">Dongdong Zheng<sup>1,2</sup><span class="note">*</span></span>
</div>
<!-- <div class="aff">
<span><sup>1</sup> Beijing Institute of Technology</span>
<span class="sep">·</span>
<span><sup>2</sup> OpenLoong</span>
</div> -->
<div class="author-notes">
<span><span class="note">†</span> Co-first authors</span>
<span class="sep">·</span>
<span><span class="note">*</span> Corresponding author</span>
<span class="sep">·</span>
<span><span class="note">‡</span> Project leader</span>
</div>
<div class="logos">
<div class="logo-item">
<img src="assets/bit.png" alt="BIT logo">
<span class="aff-num">1</span>
</div>
<div class="logo-item">
<img src="assets/rxjqr_highres.jpg" alt="RXJQR logo">
<span class="aff-num">2</span>
</div>
</div>
<div class="badges">
<!-- Paper：先用网站链接占位，之后改成你的PDF地址，比如 assets/paper.pdf -->
<!-- <a class="badge" href="https://zeonsunlightyu.github.io/RGMT.github.io/" target="_blank" rel="noopener">
<span class="icon">📄</span> Paper
</a> -->
<!-- arXiv：先用网站链接占位，之后改成 arxiv 链接 -->
<a class="badge" href="https://arxiv.org/abs/2601.23080" target="_blank" rel="noopener">
<span class="icon">🧾</span> arXiv
</a>
<!-- 1x Videos：可以直接跳到本页 Overview 视频 -->
<a class="badge" href="https://youtu.be/zqAAT0mZEBU" target="_blank" rel="noopener">
<span class="icon">▶️</span> Videos
</a>
<!-- Bilibili：先用网站链接占位，之后换成 bilibili 链接 -->
<a class="badge" href="https://b23.tv/xPNQ0uF" target="_blank" rel="noopener">
<span class="icon">📺</span> Bilibili
</a>
</div>
</header>
<section class="section" id="overview">
<div class="card video-wrap teaser overview-video">
<video controls preload="metadata" playsinline>
<source src="assets/V6.mp4" type="video/mp4">
Your browser does not support HTML5 video.
</video>
</div>
</section>
<!-- ============== Abstract（紧跟视频） ============== -->
<section class="section">
<div class="abstract-card">
<h2 class="section-title"><span class="pin">📌</span>Abstract</h2>
<p class="abstract-text">
Learning a general humanoid whole-body con-
troller is challenging because practical reference motions can
exhibit noise and inconsistencies after being transferred to the
robot domain, and local defects may be amplified by closed-
loop execution, causing drift or failure in highly dynamic and
contact-rich behaviors. We propose a dynamics-conditioned
command aggregation framework that uses a causal temporal
encoder to summarize recent proprioception and a multi-head
cross-attention command encoder to selectively aggregate a
context window based on the current dynamics. We further
integrate a fall recovery curriculum with random unstable
initialization and an annealed upward assistance force to
improve robustness and disturbance rejection. The resulting
policy requires only about 3.5 hours of motion data and
supports single-stage end-to-end training without distillation.
The proposed method is evaluated under diverse reference
inputs and challenging motion regimes, demonstrating zero-
shot transfer to unseen motions as well as robust sim-to-real
transfer on a physical humanoid robot.
</p>
</div>
</section>
<!-- ============== Method Section ============== -->
<section class="section" id="method">
<h2>Training Method</h2>
<div class="card method-figure">
<img src="assets/WBC.png" alt="Training Method Figure" class="method-img">
</div>
</section>
<!-- ============== Results ============== -->
<section class="section" id="results">
<h2>Robust and Generalized Motion Tracking</h2>
<!-- —— Unseen Mocap Data —— -->
<h3>Mocap Data Replay</h3>
<div class="card video-wrap teaser" style="margin-bottom:12px;">
<video controls preload="metadata" playsinline>
<source src="assets/replay.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
<h3>Unseen Mocap Data Replay</h3>
<!-- 第一行：两个视频并排（放大：去掉卡片 padding，缩小列间距） -->
<div class="grid tight" style="margin-bottom:12px;">
<div class="cols-2 card flush video-wrap teaser">
<video controls preload="metadata" playsinline>
<source src="assets/kongshoudao.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
<div class="cols-2 card flush video-wrap teaser">
<video controls preload="metadata" playsinline>
<source src="assets/viedo2.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
</div>
<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap"> Karate </div>
<div class="cols-2 cap"> Video-derived Dance </div>
</div>
<!-- —— WholeBody Teleportation —— -->
<h2 style="margin-top:6px;">Whole-Body Teleportation</h2>
<h3>Sports and Athletic Motions</h3>
<div class="grid tight" style="margin-bottom:12px;">
<div class="cols-2 card flush video-wrap teaser">
<video controls preload="metadata" playsinline>
<source src="assets/clip9.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
<div class="cols-2 card flush video-wrap teaser">
<video controls preload="metadata" playsinline>
<source src="assets/clip10.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
</div>
<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap"> Walk & Run </div>
<div class="cols-2 cap"> Fast Walk & Run </div>
</div>
<div class="grid tight" style="margin-bottom:12px;">
<div class="cols-2 card flush video-wrap teaser">
<video controls preload="metadata" playsinline>
<source src="assets/clip11.mp4" type="video/mp4">
您的浏览器不支持 HTML5 视频。
</video>
</div>
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<div class="cols-2 cap"> Jump </div>
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<h3>Ground Interaction Motions</h3>
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<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap"> Ground Interaction Motion Clip 1 </div>
<div class="cols-2 cap"> Ground Interaction Motion Clip 2</div>
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<h3>Boxing & Kick Motions</h3>
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<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap"> Boxing Clip 1 </div>
<div class="cols-2 cap"> Kick Clip 1 </div>
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<div class="cols-2 cap"> Boxing Clip 2 </div>
<div class="cols-2 cap"> Kick Clip 2 </div>
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<div class="cols-2 cap"> Boxing Clip 3 </div>
<div class="cols-2 cap"> Kick Clip 3 </div>
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<h3>Random Motions</h3>
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<div class="cols-2 cap"> Random Motion Clip 1 </div>
<div class="cols-2 cap"> Random Motion Clip 2 </div>
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<div class="cols-2 cap"> Random Motion Clip 3</div>
<div class="cols-2 cap"> Random Motion Clip 4 </div>
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<h3>VR Teleoperation </h3>
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<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap"> VR Teleoperation Clip 1</div>
<div class="cols-2 cap"> VR Teleoperation Clip2 </div>
</div>
<h2>Joystick Locomotion Control</h2>
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<h2>Fall Recovery</h2>
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<div class="grid tight" style="margin-top:-6px; margin-bottom:18px;">
<div class="cols-2 cap">Autonomous Recovery from Tracking Failure</div>
<div class="cols-2 cap">Autonomous Recovery Under External Disturbances</div>
</div>
</section>
<section class="section" id="bibtex">
<h2>BibTeX</h2>
<pre class="paper"><code>@article{rgmt2026,
title = {Robust and Generalized Humanoid Motion Tracking},
author = {Ma, Yubiao and Yu, Han and Xie, Jiayin and Lv, Changtai and Luo, Qiang and Zhang, Chi and Yin, Yunpeng and Xing, Boyang and Ren, Xuemei and Zheng, Dongdong},
journal = {arXiv:2601.23080},
year = {2026}
}</code></pre>
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