{"id":11126,"date":"2026-08-18T01:59:44","date_gmt":"2026-08-17T17:59:44","guid":{"rendered":"https:\/\/infernews.com\/blog\/humantracker\/"},"modified":"2026-08-18T01:59:44","modified_gmt":"2026-08-17T17:59:44","slug":"humantracker","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/humantracker\/","title":{"rendered":"HumanTracker \u60f3\u89e3\u6c7a\u4eba\u5f62\u52d5\u4f5c\u8a55\u6e2c\u5931\u771f"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/teaser-4.jpg\" alt=\"HumanTracker\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ea\u770b\u95dc\u7bc0\u89d2\u5ea6\u8aa4\u5dee\uff0c\u5f80\u5f80\u6703\u628a\u8173\u6ed1\u3001\u843d\u5730\u6642\u6a5f\u932f\u3001\u652f\u6490\u4e0d\u7a69\u9019\u4e9b\u89c0\u611f\u4e0a\u5f88\u660e\u986f\u7684\u554f\u984c\u6c96\u6de1\u3002HumanTracker\u5c6c\u65bc<strong>\u8cc7\u6599\u96c6\u52a0\u8a55\u6e2c\u5de5\u5177<\/strong>\u985e\u578b\uff0c\u6838\u5fc3\u4e0d\u662f\u518d\u505a\u4e00\u500b\u8ffd\u8e64\u6a21\u578b\uff0c\u800c\u662f\u66ff humanoid motion tracking \u5efa\u7acb\u66f4\u8cbc\u8fd1\u4eba\u773c\u5224\u65b7\u7684 benchmark\uff0c\u8b93 teleoperation \u8207 whole-body imitation \u7684\u7d50\u679c\u4e0d\u53ea\u300c\u6578\u503c\u904e\u95dc\u300d\uff0c\u5f71\u7247\u4e5f\u66f4\u53ef\u4fe1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u7684\u50f9\u503c\u5728\u65bc\u540c\u6642\u88dc\u5169\u500b\u7f3a\u53e3\uff1a\u4e00\u908a\u64f4\u5927\u6e2c\u8a66\u8986\u84cb\uff0c\u53e6\u4e00\u908a\u91cd\u5beb\u8a55\u5206\u65b9\u6cd5\u3002\u9805\u76ee\u6536\u9304\u7d04 153 \u5c0f\u6642\u5149\u5b78\u52d5\u4f5c\u8cc7\u6599\u3001\u4f86\u81ea 24 \u4f4d\u5c08\u696d\u8868\u6f14\u8005\uff0c\u6574\u7406\u6210\u56db\u985e\u52d5\u4f5c\u5bb6\u65cf\uff0c\u5c08\u9580\u62c9\u958b\u65e5\u5e38\u6b65\u614b\u3001\u9ad8\u52d5\u614b\u3001\u4e92\u52d5\u52d5\u4f5c\u8207\u63a5\u5730\u7a69\u5b9a\u6027\u4e4b\u9593\u7684\u5dee\u7570\uff1b\u518d\u7528 12K human-labeled preference pairs\uff0c\u8a13\u7df4\u51fa\u504f\u597d\u5c0d\u9f4a\u7684 <strong>HumanScore<\/strong>\uff0c\u53bb\u5224\u65b7\u54ea\u689d tracker trajectory \u66f4\u63a5\u8fd1\u4eba\u6703\u63a5\u53d7\u7684\u6548\u679c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8ddf MPJPE \u9019\u985e\u9010\u5e40 kinematic \u6307\u6a19\u76f8\u6bd4\uff0cHumanScore \u91cd\u9ede\u4e0d\u5728\u6bcf\u4e00\u5e40\u6709\u5e7e\u6e96\uff0c\u800c\u5728\u6574\u6bb5\u8ecc\u8de1\u6709\u6c92\u6709\u51fa\u73fe\u9577\u6642\u9593\u6ed1\u6b65\u3001\u6296\u52d5\u3001\u6f02\u79fb\u8207\u5931\u53bb\u5e73\u8861\u3002\u5b98\u65b9\u63d0\u4f9b\u7684\u7d50\u679c\u986f\u793a\uff0cHumanScore \u5728\u6e2c\u8a66\u96c6\u5c0d\u4eba\u985e\u504f\u597d\u7684\u5c0d\u9f4a\u7387\u9054 90.83%\uff0c\u6bd4\u8f03\u5f37\u7684\u50b3\u7d71\u8a3a\u65b7\u6307\u6a19\u9ad8 6.78 \u5206\uff1bREADME \u4ea6\u4fdd\u7559 Succ\u3001MPJPE \u8207 HumanScore \u5e7e\u7a2e\u5206\u6578\uff0c\u4ee3\u8868\u5b83\u4e0d\u662f\u53d6\u4ee3\u820a\u6307\u6a19\uff0c\u800c\u662f\u628a\u300c\u7269\u7406\u4e0a\u7ad9\u4e0d\u7ad9\u5f97\u4f4f\u300d\u9019\u4ef6\u4e8b\u88dc\u56de\u8a55\u4f30\u6d41\u7a0b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7d04 153 \u5c0f\u6642\u65b0\u63a1\u96c6 optical motion\uff0c\u6db5\u84cb 25K \u7d1a\u5225\u6a19\u8a3b\u7247\u6bb5<\/li>\n<li>HumanScore \u4f86\u81ea trajectory reward model\uff0c\u5b78\u7684\u662f\u4eba\u5c0d\u6574\u6bb5\u52d5\u4f5c\u7684\u504f\u597d<\/li>\n<li>\u5132\u5b58\u5eab\u63d0\u4f9b evaluation harness\u3001HumanScore reward model \u540c\u6578\u64da\u8655\u7406\u5de5\u5177<\/li>\n<li>\u9069\u5408\u505a\u4eba\u5f62\u6a5f\u68b0\u4eba\u8ffd\u8e64\u3001\u6a21\u4eff\u5b78\u7fd2\u3001teleoperation \u8a55\u6e2c\u7684\u7814\u7a76\u5718\u968a\u4f7f\u7528<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u9019\u500b GitHub \u5132\u5b58\u5eab\u6bd4\u8f03\u50cf\u7814\u7a76\u8a55\u6e2c\u57fa\u5efa\uff1a\u91cd\u9ede\u662f\u4e0b\u8f09\u8cc7\u6599\u96c6\u3001\u8dd1 evaluation harness\u3001\u518d\u7528 HumanScore \u8207\u50b3\u7d71\u6307\u6a19\u4e00\u8d77\u770b\u7d50\u679c\uff0c\u800c\u4e0d\u662f\u5373\u958b\u5373\u7528\u7684\u7d42\u7aef\u7522\u54c1\u3002\u53d7\u76ca\u6700\u5927\u7684\u6703\u662f\u505a\u4eba\u5f62\u63a7\u5236\u3001\u52d5\u4f5c\u8ffd\u8e64\u8207\u6a21\u4eff\u7b56\u7565\u6bd4\u8f03\u7684\u5718\u968a\uff0c\u56e0\u70ba\u5b83\u80fd\u5e6b\u4f60\u5206\u8fa8\u6a21\u578b\u7a76\u7adf\u53ea\u662f\u628a\u59ff\u52e2\u89d2\u5ea6\u64ec\u5408\u5f97\u597d\uff0c\u9084\u662f\u771f\u7684\u628a\u63a5\u89f8\u3001\u7a69\u5b9a\u8207\u52d5\u4f5c\u9023\u8cab\u5ea6\u8655\u7406\u597d\u3002\u9650\u5236\u4e5f\u5f88\u660e\u78ba\uff1a\u5b83\u4e3b\u8981\u63d0\u5347\u7684\u662f\u8a55\u6e2c\u53ef\u4fe1\u5ea6\uff0c\u4e0d\u7b49\u65bc\u76f4\u63a5\u6539\u5584 tracker \u672c\u8eab\u80fd\u529b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/dairuliu.github.io\/humantracker\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/GalaxyGeneralRobotics\/HumanTracker\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5f71\u7247\u7747\u843d\u7a69\u5514\u7a69\uff0c\u672a\u5fc5\u7b49\u65bc\u95dc\u7bc0\u8aa4\u5dee\u4f4e\u3002HumanTracker\u628a\u4eba\u985e\u504f\u597d\u7d0d\u5165\u8a55\u6e2c\uff0c\u88dc\u56de\u4eba\u5f62\u52d5\u4f5c\u8ffd\u8e64\u6700\u5e38\u88ab\u5ffd\u7565\u7684\u4e00\u6bb5\u3002<\/p>\n","protected":false},"author":8,"featured_media":11125,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ai_generated_summary":"","footnotes":""},"categories":[133,195,196,199,210],"tags":[],"class_list":["post-11126","post","type-post","status-publish","format-standard","hentry","category-133","category-195","category-196","category-dataset-","category-worldactionmodel"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11126","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=11126"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11126\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/11125"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=11126"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=11126"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=11126"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}