02 / Generated motion tracking
Prompts are adapted from the ARDY repository’s preset prompt list.
“A person walks forward at a steady pace.”
“A person makes one backward jump and lands.”
“A person repeatedly takes side steps to the right.”
“A person walks backward at a steady pace.”
“A person performs one kick with the right leg.”
“A person walks forward elegantly.”
“A person bows once and returns to an upright stance.”
“A ballet dancer repeats a turn while bringing the feet together.”
03 / Data scaling
Joint torque combines motion dynamics and environmental forces.
A joint-position policy uses one PD target for both motion tracking and balance.
Tracking and balancing produce separate torques that are added for execution.
@misc{wei2026dkwbcdecouplingmotiontracking,
title = {DKWBC: Decoupling Motion Tracking and Balancing for Humanoid Whole-Body Control},
author = {Dingkun Wei and Zehong Shen and Huaijin Pi and Xueyang Wang and Xing Zhu and Hujun Bao and Yujun Shen and Xiaowei Zhou},
year = {2026},
eprint = {2611.09605},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2611.09605}
}