Yunrui Lian

2 accepted papers

2026

Humanoid Generative Pre-Training for Zero-Shot Motion Tracking

Zekun Qi, Xuchuan Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian, Wenyao Zhang +3

CVPR 2026

We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrained by scarce data and an agility-generalization trade-off, Humanoid-GPT is pre-trained on a 2B-frame retargeted corpus

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2026

Track Any Motions under Any Disturbances

Zhikai Zhang, Jun Guo, Chao Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian +7

ICRA 2026poster

A foundational humanoid motion tracker is expected to be able to track diverse, highly dynamic, and contact-rich motions. More importantly, it needs to operate stably in real-world scenarios against various dynamics disturbances including terrains, external forces, and physical property changes for …

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