• [2026.10.12] HoloMotion v2.0 brings one policy for sparse-to-whole-body control, with initial 1-point and 5-point real-robot teleoperation demonstrated.
• [2026.07.16] HoloMotion v1.4 introduces HoloRetarget at 3,000+ FPS on RTX 4090 for training data generation and 300+ FPS entirely on-robot for teleoperation, plus HoloSMPL for 10+ datasets and devices.
• [2026.05.15] HoloMotion v1.3 scales from 60M to 0.4B parameters and 80 to 2000+ hours of motion data, while improving policy inference from ~100 to ~300 FPS.

HoloMotion progresses from general motion tracking in v1 to flexible command following in v2, then toward cross-embodiment generalization in v3 and terrain generalization in v4.

HoloMotion v1 uses a reference-conditioned MoE Transformer to track diverse human motions on humanoid robots.

• Larger: Up to 0.4B parameters trained on 2,000+ hours of motion, combining video-derived data with motion capture.
• Faster: Sequence-level training and KV-cache inference support efficient learning and real-time control.
• Stronger: Generalization to unseen motion datasets and real-robot transfer without task-specific fine-tuning, as documented in the HoloMotion-1 Technical Report.

• One policy, multiple command modes: Pelvis-1 and Keypoint-5 (pelvis, wrists, and ankles) use the same model with selectable control-point masks.
• Cross-modal extensibility through SMPL: The shared SMPL interface is designed to simplify integration of external text-to-motion and music-to-motion models; these adapters are not yet included.
• Live teleoperation: Initial 1-point and 5-point PICO VR trials have been completed on G1. See deployment.

v2.0 is in release preparation; real-robot gait and tracking quality are still being refined, especially for pelvis-only control. Validation coverage varies across modes.

Motion Conversion → Retargeting → Policy Training → Simulation Evaluation → Robot Deployment

HoloSMPL standardizes VR, inertial, optical, and vision capture into a shared representation. HoloRetarget converts these motions into robot references for data generation and live teleoperation.

Start with the v2.0.0 motion-tracking checkpoint for simulation and live control; train or fine-tune only when you need to adapt the policy.

For workstation workflows, begin with environment setup. Each guide specifies the required artifacts and commands.

The HoloMotion-2 Technical Report is scheduled for release alongside HoloMotion v2.1 at the end of October 2026. In the meantime, please cite the HoloMotion-1 report:

@misc{chen2026holomotion1,
  title = {HoloMotion-1 Technical Report},
  author = {Maiyue Chen and Kaihui Wang and Bo Zhang and Xihan Ma and Zhiyuan Yang and Yi Ren and Qijun Huang and Zihao Zhu and Yucheng Wang and Zhizhong Su},
  year = {2026},
  eprint = {2605.15336},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2605.15336}
}

Built on and inspired by these open-source projects:

• ASAP
• BeyondMimic
• GMR
• GVHMR
• Humanoidverse
• Mink
• MotionMillion
• PBHC
• PHC
• ProtoMotion
• ScaleBFM
• SONIC