# PKU EPIC Lab releases HumanTracker humanoid motion tracking benchmark and HumanScore metric

- Source: PKU EPIC Lab
- Published: 2026-08-13T17:59:40.000Z
- RoboHot: https://robohot.news/en/items/lme5ssdrnkqh93fzk5aej7phe
- Original: https://arxiv.org/abs/2608.13555

## Summary

PKU EPIC Lab proposed the HumanTracker benchmark for evaluating humanoid motion tracking, accepted to ECCV 2026. The benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels; the accompanying HumanScore metric is trained on 12K motion pairs containing 24K motions, aligns with human preferences, and can reveal contact and stability failures that kinematic metrics often miss, such as foot skating and mistimed landings.

## Why it matters

The original work proposes a benchmark and metric that align humanoid motion tracking evaluation with human perception, and points out that existing kinematic errors miss contact issues such as foot skating.