想评估人形机器人运动跟踪效果？HumanTracker 提供了153小时专业动作数据和更符合人眼判断的 HumanScore，能发现脚滑、触地不准这类关键问题。
HumanTracker 基准包含约153小时专业表演者的光学运动轨迹，覆盖四类运动族并带有文本标签。HumanScore 指标基于12K运动对（共24K运动）训练，用于对齐人类偏好。在代表性 SOTA 跟踪器上，HumanScore 能比运动学指标更准确地预测人类偏好，揭示脚部滑动和触地时机等接触稳定性问题。
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.