Author

Enrico Mingo Hoffman

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Jul 2026

What Matters in Humanoid General Motion Tracking? An Empirical Study

An empirical study of common modeling and training factors used in recent humanoid motion-imitation pipelines, developing YAHMP, an open-source modular framework for training, evaluating, and deploying whole-body motion tracking policies on the Unitree G1.

Fabio Amadio, Enrico Mingo Hoffman · arXiv.org · 1 citation

Jul 2026

Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation

A three-stage pipeline that turns motion-imitation skills into a reusable hybrid motion prior (HMP) for humanoid locomotion and shows that training the codebook with the rotation trick improves latent organization and reduces downstream falls compared with a standard straight-through estimator.

Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman et al. · arXiv.org · 0 citations