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Whether walking, running, or simply standing, the forces exchanged between our feet and the ground provide crucial insights for understanding and reconstructing human movement. Recent advances in wearable insole devices offer a compelling solution for capturing these forces in diverse, real\u2010world scenarios. Sensor insoles pose no constraint on the users' motion (unlike mocap suits) and are unaffected by line\u2010of\u2010sight limitations (in contrast to optical systems). These qualities make sensor insoles an ideal choice for robust, unconstrained motion capture, particularly in outdoor environments. Surprisingly, leveraging these devices with recent motion reconstruction methods remains largely unexplored. Aiming to fill this gap, we present\n                    <jats:bold>Step2Motion<\/jats:bold>\n                    , the first approach to reconstruct human locomotion from multi\u2010modal insole sensors. Our method utilizes pressure and inertial data\u2014accelerations and angular rates\u2014captured by the insoles to reconstruct human motion. We evaluate the effectiveness of our approach across a range of experiments to show its versatility for diverse locomotion styles, from simple ones like walking or jogging up to moving sideways, on tiptoes, slightly crouching, or dancing. The complete source code, trained model, data, and supplementary material used in this paper can be found at:\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/vcai.mpi-inf.mpg.de\/projects\/Step2Motion\/\">https:\/\/vcai.mpi-inf.mpg.de\/projects\/Step2Motion\/<\/jats:ext-link>\n                  <\/jats:p>","DOI":"10.1111\/cgf.70405","type":"journal-article","created":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T15:21:21Z","timestamp":1777562481000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Step2Motion: Locomotion Reconstruction from Pressure Sensing Insoles"],"prefix":"10.1111","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6576-4528","authenticated-orcid":false,"given":"J. 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