PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning

arXiv:2609.25754 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Reinforcement Learning — 14× in this paper · explained in 4 episodes
• Latent Representation — 5× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Latent Space — 3× in this paper · explained in 7 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• Scaling Behavior Foundation Model for Humanoid Robots
• Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
• OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
• Track Any Motions under Any Disturbances
• Kimodo: Scaling Controllable Human Motion Generation
• Physics-based Motion Retargeting from Sparse Inputs
• BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
• CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
• UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
• Versatile Physics-based Character Control with Hybrid Latent Representation
• Spherical Latent Motion Prior for Physics-Based Simulated Humanoid Control
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
• Proximal Policy Optimization Algorithms
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System

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