Preprint
Aug 2026
GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking
GenTrack is introduced, an online generator--tracker framework that alternates execution-grounded, group-relative generator alignment with tracker training on newly generated references; anchoring and rehearsal constrain drift and demonstrates that joint online post-training effectively narrows the executability gap between retargeted references and robot-native motion.
Zeyu Ling, Xinyao Yu, Renye Yan et al.
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