# ViT-H: Generating humanoid motions directly from video with diffusion models and post-training via tracking feedback

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ogfiiizwdhn7eux7z5sygjam3
- Original: https://arxiv.org/abs/2610.32966

## Summary

ViT-H proposes a generation-plus-tracking video-to-humanoid control framework. It uses a diffusion model to generate humanoid reference motions directly from monocular video, skipping human motion reconstruction and retargeting, and uses motion-tracking results to post-train the generator with direct preference optimization. The authors also present an autoregressive variant that enables real-time humanoid video teleoperation with sub-400 ms latency. Experiments on the Unitree G1 show that ViT-H outperforms existing reconstruction-retargeting-tracking pipelines in motion quality and executability, and that performance improves with model size and with pre-training and post-training data scale.