Pith Number

pith:A32YYNXQ

pith:2026:A32YYNXQ5GVVL5MMPMISENKD2M

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HoloMotion-1 Technical Report

Bo Zhang, Kaihui Wang, Maiyue Chen, Qijun Huang, Xihan Ma, Yi Ren, Yucheng Wang, Zhiyuan Yang, Zhizhong Su, Zihao Zhu

HoloMotion-1 trains a humanoid tracker on a hybrid mix of noisy video motions and clean MoCap data to achieve zero-shot whole-body control.

arxiv:2605.15336 v1 · 2026-05-14 · cs.RO · cs.AI

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Claims

C1strongest claim

Extensive experiments on multiple unseen motion benchmarks show that HoloMotion-1 generalizes robustly across diverse motion types and capture conditions, significantly improves tracking accuracy over prior methods, and transfers directly to a real humanoid robot without task-specific fine-tuning.

C2weakest assumption

The assumption that video-reconstructed motions from in-the-wild videos can serve as the dominant source of motion diversity while reconstruction noise, source-domain mismatch, and uneven quality do not prevent effective learning from the higher-fidelity MoCap and in-house data.

C3one line summary

HoloMotion-1 trains a large Mixture-of-Experts Transformer policy on a hybrid corpus of video-reconstructed and MoCap motions to achieve robust zero-shot whole-body tracking that transfers directly to real humanoid robots.

References

27 extracted · 27 resolved · 2 Pith anchors

[1] Gmt: General motion tracking for humanoid whole-body control 2025

[2] Guoqing Ma, Siheng Wang, Zeyu Zhang, Shan Yu, and Hao Tang 2025

[3] Track any motions under any disturbances 2025

[4] Kungfubot2: Learning versatile motion skills for humanoid whole-body control 2025

[5] Language models are unsupervised multitask learners 2019

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:00:53.198043Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

06f58c36f0e9ab55f58c7b11223543d33f4270677cd25ca0ad8b71281627028f

Aliases

arxiv: 2605.15336 · arxiv_version: 2605.15336v1 · doi: 10.48550/arxiv.2605.15336 · pith_short_12: A32YYNXQ5GVV · pith_short_16: A32YYNXQ5GVVL5MM · pith_short_8: A32YYNXQ

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/A32YYNXQ5GVVL5MMPMISENKD2M \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 06f58c36f0e9ab55f58c7b11223543d33f4270677cd25ca0ad8b71281627028f

Canonical record JSON

{
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    "abstract_canon_sha256": "66e4cb458850217c84ad771a3f5c231c3477c311152a6ec9d3979f0b98a03d12",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-14T18:59:43Z",
    "title_canon_sha256": "9aafcc7666f8a6dd055e4d571a7c7725a173eb455400008646056372542a7f6a"
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  "source": {
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    "kind": "arxiv",
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