vergilshawn/Awesome-Humanoid-Robot-Learning

The goal is to efficiently discover highly relevant humanoid robot learning papers without manually browsing arXiv every day.

Python

112 commits

updated Sep 28, 2026

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Awesome-Humanoid-Robot-Learning

A curated and automatically updated collection of humanoid robot learning research papers.

Total Papers: 719
Real Robot Papers: 69
Open Source Papers: 128

🌟 indicates papers with detected project/code links.

Loco-Manipulation and Whole-Body Control (245)
Manipulation (68)
Teleoperation (30)
Locomotion (185)
Navigation (23)
State Estimation (20)
Sim-to-Real (13)
Hardware Design (32)
Simulation Benchmark (34)
Physics-Based Character Animation (43)
Human Motion Analysis and Synthesis (26)
Usage

Loco-Manipulation and Whole-Body Control

2026-09

HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Zero-Shot, Humanoid, Large Language Model
Aerial Manipulation in the Wild with Onboard Perception, Policy Learning, and Whole-Body Control — Imitation Learning, Diffusion Policy, MPC, Whole-Body Control, Manipulation, State Estimation
HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments — Reinforcement Learning, Manipulation, MuJoCo, Humanoid, Distillation, Collision
Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation — Reinforcement Learning, Whole-Body Control, Manipulation, Multi-Task, Humanoid, Trajectory Optimization
Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation — Diffusion Policy, Whole-Body Control, Teleoperation, Manipulation, Humanoid, PPO
FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation — Whole-Body Control, Manipulation, MuJoCo, Humanoid, Vision-Language, Large Language Model
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control — Whole-Body Control, Locomotion, Safety, Humanoid, Collision, Loco-Manipulation and Whole-Body Control
Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip — Manipulation, Robustness, Simulator, Humanoid, Fine-tuning, Behavior Cloning
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Proprioception, Distillation
KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation — Reinforcement Learning, Whole-Body Control, Manipulation, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions — Locomotion, Manipulation, Human Demonstration, Humanoid, Policy Learning, Loco-Manipulation and Whole-Body Control
WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination — Whole-Body Control, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Real Robot
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Point Cloud
X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control — Whole-Body Control, Transformer, Real Robot, Humanoid, Proprioception, Foundation Model
Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation — Motion Retargeting, Locomotion, Manipulation, Humanoid, Inverse Kinematics, Dataset
SwingBot: Learning Whole-Body Brachiation for Humanoid Robots — Locomotion, State Estimation, Robustness, Humanoid, PPO, GAN
ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control — Whole-Body Control, Sim-to-Real, Manipulation, Zero-Shot, Humanoid, Walking
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model — Whole-Body Control, Navigation, Zero-Shot, Humanoid, Gait, Path Planning
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Locomotion, Humanoid, Policy Learning
GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation — Whole-Body Control, Teleoperation, Manipulation, Isaac Gym, MuJoCo, Humanoid
BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI — Whole-Body Control, Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation — Whole-Body Control, Manipulation, Vision-Language, Dataset, Loco-Manipulation and Whole-Body Control, Real Robot
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Walking, PPO
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control — Reinforcement Learning, Diffusion Policy, Whole-Body Control, Robustness, Humanoid, Diffusion

2026-08

LAC: Linear and Angular Compliance for Humanoid Whole-body Control — Reinforcement Learning, Whole-Body Control, Manipulation, Humanoid, Dataset, Loco-Manipulation and Whole-Body Control
🌟 DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model, website — Manipulation, World Model, Simulator, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control
GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction — Whole-Body Control, Transformer, World Model, Humanoid, Fine-tuning, Robust Control
FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences — Reinforcement Learning, Sim-to-Real, Locomotion, Manipulation, Zero-Shot, Humanoid
HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL — Reinforcement Learning, Locomotion, Manipulation, Safety, Humanoid, Vision-Language
Throwing a Tight Spiral American Football by a Humanoid Robot — Whole-Body Control, Humanoid, Trajectory Optimization, Underactuated, Contact Dynamics, Loco-Manipulation and Whole-Body Control
Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL — Reinforcement Learning, MPC, Sim-to-Real, Locomotion, Manipulation, Robustness
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References — Reinforcement Learning, Locomotion, Domain Randomization, Humanoid, Path Planning, Collision
LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation — Reinforcement Learning, Manipulation, World Model, Humanoid, Loco-Manipulation and Whole-Body Control
$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation — Imitation Learning, Locomotion, Manipulation, Humanoid, Dataset, PPO
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation — Whole-Body Control, Teleoperation, Manipulation, Generative Models, Human Demonstration, Humanoid
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin — Humanoid, Tactile Sensing, Loco-Manipulation and Whole-Body Control, Real Robot
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts — Humanoid, Policy Learning, PPO, SAC, Loco-Manipulation and Whole-Body Control
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation — Whole-Body Control, Locomotion, Zero-Shot, Humanoid, Distillation, Benchmark

2026-07

Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control — Manipulation, Biped, Humanoid, Trajectory Optimization, PPO, Loco-Manipulation and Whole-Body Control
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball — Zero-Shot, Safety, Humanoid, Benchmark, Loco-Manipulation and Whole-Body Control, Real Robot
Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning — Reinforcement Learning, Teleoperation, Locomotion, Manipulation, Humanoid, Walking
Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation — Manipulation, Humanoid, Vision-Language, PPO, Loco-Manipulation and Whole-Body Control, Real Robot
Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control — Reinforcement Learning, Sim-to-Real, Humanoid, Multi-Modal, Loco-Manipulation and Whole-Body Control
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Fine-tuning, Distillation, DAgger, Loco-Manipulation and Whole-Body Control

2026-06

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes — Sim-to-Real, Manipulation, Navigation, Humanoid, Gaussian Splatting, Vision-Language
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control — Whole-Body Control, Zero-Shot, Humanoid, Foundation Model, Robust Control, Motion Planning
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance — Locomotion, Manipulation, Transformer, Humanoid, Policy Learning, SAC
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Walking
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction — Locomotion, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking — Reinforcement Learning, Manipulation, Human Demonstration, Humanoid, Goal-Conditioned, Diffusion
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Walking, PPO
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation — Manipulation, Humanoid, Dataset, PPO, Loco-Manipulation and Whole-Body Control
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots — MPC, Whole-Body Control, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control, State Estimation
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning — Locomotion, Manipulation, Safety, Robustness, Humanoid, Vision-Language
RGB: RL Guided Whole-Body MPPI for Humanoid Control — Reinforcement Learning, Whole-Body Control, MuJoCo, Humanoid, Walking, Loco-Manipulation and Whole-Body Control
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation — Teleoperation, Manipulation, Humanoid, Vision-Language, GAN, Loco-Manipulation and Whole-Body Control
Whole-Body Impedance Model Predictive Control for Safe Physical Human--Robot Interaction on Floating-Base Platforms — MPC, Whole-Body Control, Locomotion, Biped, Humanoid, Loco-Manipulation and Whole-Body Control
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning — Teleoperation, Manipulation, Human Demonstration, Humanoid, Admittance Control, Loco-Manipulation and Whole-Body Control
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Fine-tuning
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation — Locomotion, Manipulation, World Model, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation — Teleoperation, Manipulation, Zero-Shot, Domain Randomization, Humanoid, Loco-Manipulation and Whole-Body Control
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers — Whole-Body Control, Locomotion, Manipulation, Safety, Humanoid, Task Planning
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation — Reinforcement Learning, Teleoperation, Motion Retargeting, Manipulation, Human Demonstration, Humanoid
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors — Sim-to-Real, Teleoperation, Manipulation, Simulator, Humanoid, Foundation Model
🌟 M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking, website — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Locomotion, Manipulation, Simulator
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking — Whole-Body Control, Transformer, Zero-Shot, Humanoid, Dataset, Loco-Manipulation and Whole-Body Control
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots — Whole-Body Control, Humanoid, Gait, Diffusion, Loco-Manipulation and Whole-Body Control
SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation — Whole-Body Control, Sim-to-Real, Manipulation, Robustness, Humanoid, Loco-Manipulation and Whole-Body Control

2026-05

LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World — Teleoperation, Manipulation, Robustness, Simulator, Humanoid, Gaussian Splatting
Constrained Whole-Body Tracking for Humanoid Robots — Reinforcement Learning, Teleoperation, Safety, Humanoid, Collision, Loco-Manipulation and Whole-Body Control
HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads — Reinforcement Learning, Imitation Learning, Whole-Body Control, Teleoperation, Humanoid, Vision-Language
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking — Whole-Body Control, Humanoid, Fine-tuning, Loco-Manipulation and Whole-Body Control
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control — Whole-Body Control, Humanoid, Language-Conditioned, PPO, Diffusion, Loco-Manipulation and Whole-Body Control

2026-04

Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking — Reinforcement Learning, Locomotion, Humanoid, PPO, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 CLAW: Composable Language-Annotated Whole-body Motion Generation, website — Whole-Body Control, MuJoCo, Humanoid, Language-Conditioned, Dataset, Loco-Manipulation and Whole-Body Control
HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation — Manipulation, Biped, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Sumo: Reinforcement Learning for Humanoid Loco-manipulation with Interactable 3D Scene Semantics, website — Reinforcement Learning, Manipulation, Navigation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2026-03

RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids — Locomotion, MuJoCo, Humanoid, Fine-tuning, Distillation, Loco-Manipulation and Whole-Body Control
🌟 ZeroWBC: Learning Natural Visuomotor Humanoid Control Directly from Human Egocentric Video, website — Whole-Body Control, Teleoperation, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control, Open Source
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating, website — Whole-Body Control, Safety, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation — Manipulation, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
🌟 SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning, website — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2026-02

OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety — Safety, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction — Humanoid, Loco-Manipulation and Whole-Body Control
Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model, website — World Model, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation — Sim-to-Real, Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Human-Like Badminton Skills for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control — Humanoid, Loco-Manipulation and Whole-Body Control
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization — Trajectory Optimization, Sampling-Based, Loco-Manipulation and Whole-Body Control
🌟 Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework — Humanoid, Loco-Manipulation and Whole-Body Control
PDF-HR: Pose Distance Fields for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control
🌟 HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour — Loco-Manipulation and Whole-Body Control
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control — Zero-Shot, Loco-Manipulation and Whole-Body Control

2026-01

Robust and Generalized Humanoid Motion Tracking — Humanoid, Loco-Manipulation and Whole-Body Control
RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing — Humanoid, Loco-Manipulation and Whole-Body Control
PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes — Manipulation, Loco-Manipulation and Whole-Body Control
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes — Humanoid, Collision, Loco-Manipulation and Whole-Body Control
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations — Human Demonstration, Humanoid, Loco-Manipulation and Whole-Body Control
Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids — Humanoid, Loco-Manipulation and Whole-Body Control
Deep Whole-body Parkour — Loco-Manipulation and Whole-Body Control

2025-09

OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Towards Versatile Humanoid Table Tennis: Unified Reinforcement Learning with Prediction Augmentation — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation — Manipulation, Humanoid, Residual Learning, Loco-Manipulation and Whole-Body Control
HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
KungfuBot 2: Learning Versatile Motion Skills for Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Implicit Kinodynamic Motion Retargeting for Human-to-humanoid Imitation Learning — Imitation Learning, Motion Retargeting, Humanoid, Loco-Manipulation and Whole-Body Control
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion — Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 Track Any Motions under Any Disturbances, website — Loco-Manipulation and Whole-Body Control, Open Source
🌟 Behavior Foundation Model for Humanoid Robots, website — Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control, Open Source
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning — Reinforcement Learning, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2025-08

🌟 HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
HuBE: Cross-Embodiment Human-like Behavior Execution for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
HumanoidVerse: A Versatile Humanoid for Vision-Language Guided Multi-Object Rearrangement — Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Task and Motion Planning for Humanoid Loco-manipulation — Manipulation, Humanoid, Motion Planning, Loco-Manipulation and Whole-Body Control
Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation — Humanoid, Optimization-Based, Loco-Manipulation and Whole-Body Control
GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation — Humanoid, Loco-Manipulation and Whole-Body Control
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion — Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot — Humanoid, Loco-Manipulation and Whole-Body Control

2025-07

EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation — Humanoid, Loco-Manipulation and Whole-Body Control
Keep on Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training — Humanoid, Loco-Manipulation and Whole-Body Control
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control

2025-06

Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots — Whole-Body Control, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality — Imitation Learning, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
GMT: General Motion Tracking for Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction — Whole-Body Control, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World Reinforcement Learning, website — Reinforcement Learning, Loco-Manipulation and Whole-Body Control
Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
From Motion to Behavior: Hierarchical Modeling of Humanoid Generative Behavior Control — Humanoid, Loco-Manipulation and Whole-Body Control

2025-05

SignBot: Learning Human-to-Humanoid Sign Language Interaction — Humanoid, Loco-Manipulation and Whole-Body Control
Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control — Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Mobi-π: Mobilizing Your Robot Learning Policy, website — Loco-Manipulation and Whole-Body Control, Open Source
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors — Humanoid, Loco-Manipulation and Whole-Body Control
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control — Whole-Body Control, Humanoid, Self-Supervised, Loco-Manipulation and Whole-Body Control
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HuB: Learning Extreme Humanoid Balance, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
JAEGER: Dual-Level Humanoid Whole-Body Controller — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 PyRoki: A Modular Toolkit for Robot Kinematic Optimization, website — Loco-Manipulation and Whole-Body Control, Open Source
TWIST: Teleoperated Whole-Body Imitation System — Loco-Manipulation and Whole-Body Control
🌟 H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2025-04

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning, website — Locomotion, Humanoid, Policy Learning, Loco-Manipulation and Whole-Body Control, Open Source
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models — Manipulation, Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 Embodied Chain of Action Reasoning with Multi-Modal Foundation Model for Humanoid Loco-manipulation, website — Manipulation, Humanoid, Foundation Model, Multi-Modal, Loco-Manipulation and Whole-Body Control, Open Source

2025-03

FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation — Locomotion, Manipulation, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
🌟 Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills, website — Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control, Open Source
Trinity: A Modular Humanoid Robot AI System — Humanoid, Loco-Manipulation and Whole-Body Control
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities, website — Manipulation, Loco-Manipulation and Whole-Body Control
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo — MuJoCo, Loco-Manipulation and Whole-Body Control

2025-02

HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery — Humanoid, Curriculum Learning, Loco-Manipulation and Whole-Body Control
🌟 HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Learning Getting-Up Policies for Real-World Humanoid Robots, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Learning Humanoid Standing-up Control across Diverse Postures — Humanoid, Loco-Manipulation and Whole-Body Control
HugWBC: A Unified and General Humanoid Whole-Body Controller — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 SPARK: A Toolbox for Safe Humanoid Autonomy and Teleoperation, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions, website — Humanoid, Collision, Loco-Manipulation and Whole-Body Control, Open Source

2024-12

Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Learning from Massive Human Videos for Universal Humanoid Pose Control, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 ExBody2: Advanced Expressive Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2024-11

A Behavior Architecture for Fast Humanoid Robot Door Traversals, website — Humanoid, Loco-Manipulation and Whole-Body Control
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control — Domain Randomization, Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control

2024-10

EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Whole-Body Dynamic Throwing with Legged Manipulators — Loco-Manipulation and Whole-Body Control

2024-09

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing — MPC, Locomotion, Sampling-Based, Diffusion, Loco-Manipulation and Whole-Body Control

2024-07

🌟 Flow Multi-Support: Flow Matching Imitation Learning for Multi-Support Manipulation, website — Imitation Learning, Manipulation, PPO, Flow Matching, Loco-Manipulation and Whole-Body Control, Open Source

2024-06

🌟 HumanPlus: Humanoid Shadowing and Imitation from Humans, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation, website — Manipulation, Loco-Manipulation and Whole-Body Control, Open Source

2024-03

🌟 Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2024-02

🌟 Expressive Whole-Body Control for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2023-10

Sim-to-Real Learning for Humanoid Box Loco-Manipulation — Sim-to-Real, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control

2022-12

Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo — MuJoCo, Loco-Manipulation and Whole-Body Control

Manipulation

2026-09

Praxis: Distilling Physical Interaction Priors from Egocentric Videos for Generalizable Whole-Body Manipulation — Manipulation, Navigation, Human Demonstration, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation — Manipulation, Humanoid, PPO
Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control — Sim-to-Real, Manipulation, Humanoid
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction — Manipulation, Humanoid, Large Language Model, PPO, Real Robot

2026-08

Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception — Manipulation, Biped, Humanoid, Walking, Proprioception, State Estimation
Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence — Manipulation, Robustness, Humanoid, Vision-Language, Dataset, Simulation Benchmark

2026-07

Handroid: Bridging Dexterous Hand and Humanoid — Teleoperation, Locomotion, Manipulation, Humanoid, Gait, PPO
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning — Humanoid, Dataset, Policy Learning, Manipulation
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation — Manipulation, Humanoid

2026-06

Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments — Teleoperation, Manipulation, Zero-Shot, Human Demonstration, Humanoid, Inverse Kinematics
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation — Imitation Learning, Manipulation, Humanoid, Dataset, Multi-Modal, Simulation Benchmark
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory — Manipulation, Humanoid, Benchmark, PPO, GAN, Simulation Benchmark
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Proprioception
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations — Manipulation, Navigation, Human Demonstration, Humanoid, PPO, Loco-Manipulation and Whole-Body Control
ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning — Reinforcement Learning, Manipulation, Humanoid, Vision-Language
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training — Zero-Shot, Humanoid, Manipulation
Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs — Humanoid, PPO, Manipulation

2026-04

A Rapid Deployment Pipeline for Autonomous Humanoid Grasping Based on Foundation Models — Zero-Shot, Real Robot, Humanoid, Inverse Kinematics, 3D Reconstruction, Foundation Model
🌟 Humanoid Manipulation with Touch Dreaming, website — Manipulation, Humanoid, Policy Learning, Open Source

2026-03

🌟 HumDex: Humanoid Dexterous Manipulation Made Easy — Manipulation, Humanoid, Open Source
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots — Manipulation

2026-02

🌟 DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos, website — World Model, Manipulation, Open Source

2026-01

HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation — Manipulation, Humanoid, Impedance Control, Vision-Language
Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation — Manipulation, Humanoid
DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation — Manipulation
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot — Humanoid, Manipulation

2025-11

SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot — Humanoid, Manipulation
Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations — Manipulation, Human Demonstration
In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data — Manipulation
RGMP: Recurrent Geometric-prior Multimodal Policy for Generalizable Humanoid Robot Manipulation — Manipulation, Humanoid
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields — Manipulation
EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations — Manipulation, Human Demonstration
Endowing GPT-4 with a Humanoid Body: Building the Bridge Between Off-the-Shelf VLMs and the Physical World — Humanoid, Manipulation

2025-10

A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation — Manipulation, Humanoid, Dataset
Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots — Humanoid, Proprioception, Manipulation

2025-09

EgoDemoGen: Novel Egocentric Demonstration Generation Enables Viewpoint-Robust Manipulation — Manipulation
Residual Off-Policy RL for Finetuning Behavior Cloning Policies — Behavior Cloning, Manipulation
MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos — Manipulation, Humanoid

2025-08

Masquerade: Learning from In-the-wild Human Videos using Data-Editing — Manipulation
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots — Manipulation, Humanoid

2025-07

H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation — Manipulation
🌟 Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos, website — Vision-Language, Manipulation, Open Source
🌟 EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos, website — Vision-Language, Manipulation, Open Source
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming — Humanoid, Manipulation

2025-06

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation — Manipulation, Humanoid, Vision-Language
Vision in Action: Learning Active Perception from Human Demonstrations — Human Demonstration, Manipulation

2025-05

DreamGen: Unlocking Generalization in Robot Learning through Neural Trajectories — Manipulation
EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video — Manipulation

2025-03

🌟 Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation, website — Manipulation, Open Source
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots — Humanoid, Foundation Model, Manipulation
🌟 Humanoid Policy ~ Human Policy, website — Humanoid, Manipulation, Open Source
Humanoids in Hospitals: A Technical Study of Humanoid Surrogates for Dexterous Medical Interventions — Humanoid, Manipulation
🌟 Unified Video Action Model, website — Manipulation, Open Source

2025-02

Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm — Humanoid, Manipulation

2025-01

MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data — Manipulation

2024-12

🌟 ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition, website — Manipulation, Open Source

2024-11

🌟 Object-Centric Dexterous Manipulation from Human Motion Data, website — Manipulation, Open Source
🌟 DexHub and DART: Towards Internet-Scale Robot Data Collection, website — Manipulation, Open Source
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck — Teleoperation, Manipulation

2024-10

🌟 EgoMimic: Scaling Imitation Learning via Egocentric Video, website — Imitation Learning, Manipulation, Open Source
🌟 Learning to Look: Seeking Information for Decision Making via Policy Factorization, website — Manipulation, Open Source
🌟 OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation, website — Manipulation, Humanoid, Open Source
🌟 Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies, website — Manipulation, Humanoid, Diffusion, Open Source

2024-08

🌟 ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, website — Teleoperation, Manipulation, Open Source

2024-07

🌟 Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, website — Imitation Learning, Teleoperation, Manipulation, Open Source
🌟 Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, website — Teleoperation, Manipulation, Open Source

2024-04

🌟 Learning Visuotactile Skills with Two Multifingered Hands, website — Manipulation, Open Source

2024-03

🌟 DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation, website — Manipulation, Open Source

Teleoperation

2026-09

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation — Teleoperation, Humanoid, Proprioception, Dataset, Loco-Manipulation and Whole-Body Control, Manipulation
PGMT: Perceptive General Motion Tracking for Humanoid Robots — Teleoperation, Locomotion, Zero-Shot, Humanoid, PPO, Real Robot
SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation — Teleoperation, Locomotion, Manipulation, Humanoid
Can People Distinguish Human and AI Agency in Humanoid Teleoperation? A Preliminary Study of Agency Perception — Teleoperation, Humanoid, PPO
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence — Motion Retargeting, Locomotion, Humanoid, Point Cloud, Teleoperation

2026-08

Teleopit: A Full-Embodiment Humanoid Teleoperation System — Teleoperation, Locomotion, Manipulation, Humanoid, Optimization-Based

2026-07

Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination — Teleoperation, Humanoid, PPO
HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum — Teleoperation, Locomotion, Humanoid

2026-06

LadderMan: Learning Humanoid Perceptive Ladder Climbing — Reinforcement Learning, Sim-to-Real, Teleoperation, Manipulation, Zero-Shot, Humanoid
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots — Imitation Learning, Teleoperation, Motion Retargeting, Humanoid, GAN, Real Robot

2026-05

Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation — Sim-to-Real, Teleoperation, MuJoCo, Humanoid, Walking, Human Motion Analysis and Synthesis

2026-02

CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation — Teleoperation, Humanoid
ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control — Teleoperation, Humanoid
TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior — Teleoperation, Humanoid
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation — Teleoperation, Humanoid

2025-11

Learning Adaptive Neural Teleoperation for Humanoid Robots — Teleoperation, Humanoid

2025-10

Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots — Teleoperation, Humanoid
Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation — Teleoperation, Humanoid
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy — Humanoid, Teleoperation

2025-08

Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation — Teleoperation, Manipulation, Humanoid, Parameter Estimation
CHILD: a Whole-Body Humanoid Teleoperation System — Teleoperation, Humanoid

2025-06

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks — Teleoperation, Humanoid

2025-05

Heavy lifting tasks via haptic teleoperation of a wheeled humanoid — Teleoperation, Humanoid
🌟 TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation, website — Teleoperation, Simulator, Benchmark, Open Source
Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots — Humanoid, Teleoperation

2025-03

NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots — Teleoperation, Humanoid

2024-09

High-Speed and Impact Resilient Teleoperation of Humanoid Robots — Teleoperation, Humanoid, Impact

2023-09

🌟 Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, website — Imitation Learning, Teleoperation, Manipulation, Humanoid, Open Source

2023-01

Teleoperation of Humanoid Robots: A Survey, website — Teleoperation, Humanoid

2022-03

iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, website — Humanoid, Teleoperation

Locomotion

2026-09

Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators — Locomotion, Humanoid, Flow Matching
Tactile Sensing Array for Multi-Phalanx Sensing in Humanoid Hands — Humanoid, Tactile Sensing, Proprioception, Locomotion
Rolling-WAM: World Action Models with Rolling Imagination — Manipulation, Humanoid, Locomotion, Real Robot
Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory — Locomotion, Robustness, Humanoid, Gait, PPO
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion — Locomotion, Humanoid, Tactile Sensing, Impact, PPO
🌟 ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control, website — Reinforcement Learning, Locomotion, Human Demonstration, Safety, Humanoid, Real Robot
DAVIS: A Depth-Only End-to-End Active-Vision Framework for Humanoid Soccer Skills — Humanoid, Impact, Locomotion, Real Robot
Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer — Reinforcement Learning, Sim-to-Real, Humanoid, PPO, Locomotion
Learning Expressive Humanoid Locomotion from Monocular Runway Videos for Robot Fashion Shows — Locomotion, Humanoid, Walking
Humanoid Locomotion with a Fly-Inspired Recurrent Controller — Locomotion, Humanoid, PPO
PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning — Reinforcement Learning, Humanoid, Goal-Conditioned, Policy Learning, DAgger, Locomotion
Teaching Reinforcement Learning and Humanoid Robotics to High-School Students: An Expert-Validated Curriculum Design on a Low-Cost Open Platform — Reinforcement Learning, Open Source, Humanoid, Walking, System Identification, Policy Learning
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control — Diffusion Policy, Humanoid, PPO, Diffusion, Locomotion
LLM-based Conversational AI Knowledge Assistant for MyBuddy Humanoid Robot — Humanoid, Large Language Model, PPO, Locomotion
Smoothness as a Constraint for Stable Humanoid Locomotion — Reinforcement Learning, Whole-Body Control, Locomotion, Embodied AI, Humanoid, Loco-Manipulation and Whole-Body Control
STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots — Reinforcement Learning, Manipulation, Humanoid, Gait, Walking, Distillation
HIGenNTO: Scalable Humanoid Interaction Generation via Noise-Space Trajectory Optimization — Humanoid, Trajectory Optimization, Collision, PPO, Locomotion
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion — Locomotion, Humanoid, Proprioception, PPO, GAN, State Estimation
Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations — Motion Retargeting, Locomotion, Human Demonstration, Humanoid, Collision, Real Robot
Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction — Reinforcement Learning, Teleoperation, Locomotion, Zero-Shot, Human Demonstration, Humanoid
OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots — Humanoid, Walking, PPO, Locomotion
ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids — Reinforcement Learning, Locomotion, Safety, Robustness, Humanoid
OJOx: Specification-Conditioned Demonstrations for Embodied AI in Construction — Human Demonstration, Embodied AI, Humanoid, Locomotion
EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Gait, Walking, Dataset
DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal — World Model, Humanoid, PPO, Locomotion, Real Robot
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising — Locomotion, Humanoid, Real Robot
GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media — Reinforcement Learning, Locomotion, Zero-Shot, Humanoid, Contact Dynamics, Real Robot
Visible-Reachable Workspace for Perception-Aware Humanoid Design — Manipulation, Humanoid, Benchmark, Locomotion, Real Robot
Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control — MPC, Locomotion, Biped, Humanoid, Walking, Optimal Control
RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models — Locomotion, MuJoCo, Humanoid, Distillation, Simulation Benchmark, Real Robot
World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain — Locomotion, World Model, Humanoid, Proprioception, PPO, State Estimation
Humanoid Safe Stop via Learned Stoppability Value — Humanoid, SAC, Locomotion

2026-08

Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids — Humanoid, PPO, Locomotion
Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters — Sim-to-Real, Locomotion, Manipulation, Zero-Shot, Humanoid, Proprioception
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion — Locomotion, Zero-Shot, Humanoid, Proprioception, Distillation, PPO
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions — Locomotion, Biped, Humanoid, Walking
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking — Sim-to-Real, Robustness, Real Robot, Humanoid, Motion Planning, Locomotion
EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control — Humanoid, Vision-Language, Locomotion
Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion — Locomotion, Zero-Shot, Humanoid, Proprioception, Policy Learning, Actor-Critic
Learning Context-Aware Motion Priors for Humanoid Control — Humanoid, Dataset, Policy Learning, Locomotion
PFM-HR: Pose Flow Matching for Humanoid Robots — Reinforcement Learning, Humanoid, Flow Matching, Locomotion
Toward Certified Functional Safety for Industrial Humanoid Robots: The Fail-Passive Gap and a Feasibility Study — Locomotion, Manipulation, Safety, Biped, Humanoid, Walking
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior — Safety, Humanoid, PPO, Locomotion
Perception-and-action system for humanoid robot task execution in construction — Multi-Task, Humanoid, Locomotion

2026-07

CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning — Reinforcement Learning, Manipulation, Humanoid, Foundation Model, Fine-tuning, Locomotion
Speech2Grasp: Data-Efficient Transfer of Text-Conditioned Grasp Detection to Speech in Humanoid Robots — Robustness, Humanoid, Vision-Language, Multi-Modal, Locomotion, Real Robot
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation — Reinforcement Learning, Locomotion, Navigation, Humanoid, Gait, Distillation
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids — Humanoid, Vision-Language, Foundation Model, Fine-tuning, Benchmark, Locomotion
Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control — Humanoid, Locomotion
What Matters in Humanoid General Motion Tracking? An Empirical Study — Zero-Shot, Humanoid, Locomotion
Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data — Humanoid, Locomotion, Real Robot
Motion Primitive Discovery in a Humanoid Robot via Self-Organising Maps for Phase Recognition — Humanoid, PPO, GAN, Locomotion
From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation — Humanoid, Vision-Language, Collision, Locomotion
Scaling Behavior Foundation Model for Humanoid Robots — Transformer, Humanoid, Foundation Model, Locomotion
GaitSpan: Growing Humanoid Locomotion from Walking to Running — Locomotion, Zero-Shot, Humanoid, Gait, Walking, PPO
ContactMimic: Humanoid Object Interaction via Contact Control — Manipulation, Humanoid, Locomotion
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains — Reinforcement Learning, Sim-to-Real, Locomotion, Humanoid, Gait, PPO
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion — Locomotion, Humanoid, Trajectory Optimization, Dataset, PPO

2026-06

Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot — Reinforcement Learning, Imitation Learning, Locomotion, Zero-Shot, Humanoid, Gait
🌟 FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion, website — Reinforcement Learning, Locomotion, MuJoCo, Humanoid, Actor-Critic, SAC
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning — Manipulation, Human Demonstration, Humanoid, Motion Planning, Locomotion
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies — Reinforcement Learning, Sim-to-Real, Locomotion, Human Demonstration, Real Robot, Humanoid
Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI — Locomotion, Manipulation, Humanoid, Dataset, GAN
Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes — Biped, Walking, Impact, Locomotion
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot — MPC, Locomotion, Manipulation, Biped, Optimization-Based, Real Robot
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion — Locomotion, Domain Randomization, Robustness, Humanoid, Proprioception, State Estimation
🌟 MotionVLA: Vision-Language-Action Model for Humanoid Motion, website — Humanoid, Vision-Language, PPO, Locomotion, Open Source
Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids — Reinforcement Learning, Robustness, Humanoid, Actor-Critic, Locomotion
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots — Safety, Humanoid, Dataset, Locomotion, Real Robot
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning — Reinforcement Learning, Locomotion, Humanoid, Real Robot
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains — Reinforcement Learning, Locomotion, Navigation, Robustness, Humanoid, Distillation
MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds — Reinforcement Learning, Locomotion, Safety, Biped, Humanoid
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands — Humanoid, Proprioception, Distillation, Locomotion
PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning — Locomotion, Humanoid, Walking, Proprioception, State Estimation
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking — Reinforcement Learning, Locomotion, Manipulation, Navigation, Robustness, Humanoid
Predictive Style Matching: Natural and Robust Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Gait, PPO
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, VAE
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Proprioception, State Estimation
🌟 Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation, website — Reinforcement Learning, MPC, Locomotion, Manipulation, Humanoid, Open Source
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation — Reinforcement Learning, Locomotion, Zero-Shot, Humanoid, Gait, Walking
PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments — Humanoid, Distillation, Policy Learning, Locomotion

2026-05

Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion — Reinforcement Learning, Sim-to-Real, Locomotion, Navigation, Zero-Shot, Humanoid
SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World — Locomotion, Humanoid, PPO
SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints — Sim-to-Real, Locomotion, Zero-Shot, Humanoid, Gait
MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots — Reinforcement Learning, Locomotion, Humanoid, Distillation, Policy Learning, VAE
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos — Imitation Learning, Simulator, Humanoid, Sampling-Based, Locomotion
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors — Reinforcement Learning, Locomotion, Humanoid, Walking, Real Robot
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion — Locomotion, Robustness, Humanoid, Gait, PPO, Real Robot

2026-04

QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear — Reinforcement Learning, Locomotion, Humanoid, Contact Dynamics, Impact, Dataset
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions — Motion Retargeting, Safety, Humanoid, Collision, Locomotion
🌟 RoSHI: Large-scale Motion Imitation in Humanoid Robots via World Models, website — World Model, Humanoid, Locomotion, Open Source

2026-03

CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion — Locomotion, Robustness, Humanoid
Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping — Sim-to-Real, Locomotion, Humanoid, Walking, Navigation, Real Robot
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation — Locomotion, Humanoid, Distillation

2026-02

Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits — Humanoid, Gait, Locomotion
🌟 APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots, website — Humanoid, Locomotion, Open Source
🌟 ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking, website — Reinforcement Learning, Humanoid, Walking, Locomotion, Open Source
Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels — Locomotion, Humanoid
A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion — Locomotion, Humanoid
Scalable and General Whole-Body Control for Cross-Humanoid Locomotion — Whole-Body Control, Locomotion, Humanoid
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation — Reinforcement Learning, Humanoid, Distillation, Locomotion
CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains — Locomotion, Humanoid
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains — Locomotion, Humanoid
Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion — Sim-to-Real, Locomotion

2026-01

FastStair: Learning to Run Up Stairs with Humanoid Robots — Humanoid, Locomotion
AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding — Locomotion
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds — Locomotion, Humanoid
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles — Humanoid, Locomotion

2025-12

Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control — Locomotion, Humanoid
RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion — Locomotion, Humanoid
E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid
Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy — Zero-Shot, Humanoid, Locomotion
Symphony: A Heuristic Normalized Calibrated Advantage Actor and Critic Algorithm in application for Humanoid Robots — Humanoid, Locomotion
A Hierarchical, Model-Based System for High-Performance Humanoid Soccer — Humanoid, Locomotion
Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction — Locomotion, Humanoid, Gait
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes — Sim-to-Real, Locomotion, Humanoid
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer — Locomotion, Few-Shot, Humanoid
A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs — Locomotion, Humanoid

2025-11

Reference-Free Sampling-Based Model Predictive Control — Sampling-Based, Locomotion

2025-10

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control — Walking, Locomotion
PHUMA: Physically-Grounded Humanoid Locomotion Dataset — Locomotion, Humanoid, Dataset
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels — Locomotion
Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion — Locomotion, Humanoid
PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing — Locomotion, Humanoid
Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion — Locomotion, Humanoid
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction — Locomotion, Humanoid

2025-09

Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning — Humanoid, Locomotion
RuN: Residual Policy for Natural Humanoid Locomotion — Locomotion, Humanoid
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided RL — Humanoid, Locomotion
Reduced-Order Model-Guided RL for Demonstration-Free Humanoid Locomotion — Locomotion, Humanoid
HuMam: Humanoid Motion Control via End-to-End Deep RL with Mamba — Humanoid, Locomotion
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids — Humanoid, Locomotion

2025-08

Traversing Narrow Paths: A Two-Stage RL Framework for Robust and Safe Humanoid Walking — Humanoid, Walking, Locomotion
No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets — Locomotion, Humanoid
Geometry-Aware Predictive Safety Filters on Humanoids — Safety, Humanoid, Locomotion
MASH: Cooperative-Heterogeneous Multi-Agent RL for Single Humanoid Robot Locomotion — Locomotion, Humanoid
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy — Locomotion, Humanoid
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running — Locomotion, Biped
Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy — Reinforcement Learning, Locomotion, Humanoid

2025-07

Success in Humanoid Reinforcement Learning under Partial Observation — Reinforcement Learning, Humanoid, Locomotion
Mechanical Intelligence-Aware Curriculum RL for Humanoids with Parallel Actuation — Humanoid, Locomotion
Learning Humanoid Arm Motion via Centroidal Momentum Regularized Multi-Agent Reinforcement Learning — Reinforcement Learning, Humanoid, Locomotion

2025-06

Booster Gym: An End-to-End RL Framework for Humanoid Robot Locomotion — Locomotion, Humanoid
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion — Locomotion, Humanoid
🌟 MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains, website — Humanoid, Gait, Locomotion, Open Source
A Gait Driven RL Framework for Humanoid Robots — Humanoid, Gait, Locomotion
Learning Aerodynamics for the Control of Flying Humanoid Robots — Humanoid, Locomotion

2025-05

🌟 FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control, website — Reinforcement Learning, Humanoid, TD3, Locomotion, Open Source
Gait-Conditioned RL with Multi-Phase Curriculum for Humanoid Locomotion — Locomotion, Humanoid, Gait
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments — Locomotion, Collision
One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion — Locomotion, Humanoid
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion — Locomotion, Humanoid
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion — Locomotion, Humanoid
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics — Safety, Humanoid, Locomotion
Let Humanoids Hike! Integrative Skill Development on Complex Trails — Humanoid, Locomotion
🌟 VideoMimic: Visual imitation enables contextual humanoid control, website — Humanoid, Locomotion, Open Source

2025-04

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings — Humanoid, Diffusion, Locomotion
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep RL — Humanoid, Walking, Locomotion
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion — Locomotion, Humanoid, Pre-training, Fine-tuning
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion — Locomotion, Humanoid
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs — Locomotion, Biped, Humanoid

2025-03

StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion — Locomotion, Humanoid, Distillation
Natural Humanoid Robot Locomotion with Generative Motion Prior — Locomotion, Humanoid
LiPS: Large-Scale Humanoid Robot RL with Parallel-Series Structures — Humanoid, Locomotion
Distillation-PPO: A Novel Two-Stage RL Framework for Humanoid Robot Perceptive Locomotion — Locomotion, Humanoid, Distillation, PPO
🌟 HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion, website — Whole-Body Control, Locomotion, Humanoid, Open Source
Learning Perceptive Humanoid Locomotion over Challenging Terrain — Locomotion, Humanoid

2025-02

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning — Reinforcement Learning, Locomotion, Humanoid
Learning Humanoid Locomotion with World Model Reconstruction — Locomotion, World Model, Humanoid
🌟 VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception, website — Locomotion, Humanoid, Open Source
🌟 BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds, website — Locomotion, Humanoid, Open Source

2024-11

Learning Humanoid Locomotion with Perceptive Internal Model — Locomotion, Humanoid
🌟 Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing, website — Humanoid, Locomotion, Open Source

2024-10

🌟 Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, website — Locomotion, Humanoid, Open Source
🌟 Learning Humanoid Locomotion over Challenging Terrain, website — Locomotion, Humanoid, Open Source

2024-08

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning — Locomotion, World Model, Humanoid

2024-06

🌟 Humanoid Parkour Learning, website — Humanoid, Locomotion, Open Source

2024-04

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey — Reinforcement Learning, Locomotion, Biped

2024-02

🌟 Humanoid Locomotion as Next Token Prediction, website — Locomotion, Humanoid, Open Source
🌟 Whole-body Humanoid Robot Locomotion with Human Reference, website — Locomotion, Humanoid, Open Source

2024-01

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control — Reinforcement Learning, Locomotion, Biped

2023-09

Learning to Walk and Fly with Adversarial Motion Priors — Locomotion

2023-07

Benchmarking Potential Based Rewards for Learning Humanoid Locomotion — Locomotion, Humanoid, Benchmark

2023-03

🌟 Real-World Humanoid Locomotion with Reinforcement Learning, website — Reinforcement Learning, Locomotion, Humanoid, Open Source

2023-02

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning — Reinforcement Learning, Biped, Locomotion

2026-09

Learning Safe Humanoid Navigation from Reduced Order Models — Locomotion, Navigation, Safety, Humanoid

2026-07

RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC — Reinforcement Learning, MPC, Locomotion, Navigation, Safety, Robustness

2026-06

LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception — Locomotion, Navigation, Safety, MuJoCo, Humanoid, Proprioception

2026-05

Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments — Locomotion, Manipulation, Navigation, Safety, Humanoid, Gait
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy — Reinforcement Learning, MPC, Locomotion, Navigation, Humanoid

2026-04

Learning Humanoid Navigation from Human Data, website — Navigation, Zero-Shot, Humanoid, Walking, Diffusion, Locomotion

2026-02

EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models — Humanoid, Task Planning, Navigation

2026-01

FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation — Navigation, Humanoid

2025-12

🌟 STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain, website — Navigation, Biped, Open Source

2025-11

Thinking in 360: Humanoid Visual Search in the Wild — Humanoid, Navigation
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains — Locomotion, Navigation, Humanoid

2025-09

Quantum deep reinforcement learning for humanoid robot navigation task — Reinforcement Learning, Navigation, Humanoid

2025-08

Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications — Navigation
LookOut: Real-World Humanoid Egocentric Navigation — Navigation, Humanoid
INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM — Humanoid, Navigation
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching — Locomotion, Navigation, Humanoid

2025-07

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots — Humanoid, Navigation

2025-06

RL with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation — Navigation, Humanoid

2025-05

NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance — Diffusion Policy, Sim-to-Real, Navigation, Diffusion

2025-03

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots — Humanoid, Navigation

2024-12

🌟 NaVILA: Legged Robot Vision-Language-Action Model for Navigation, website — Navigation, Vision-Language, Open Source
ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning — Humanoid, Collision, Motion Planning, Navigation

2023-10

NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration — Navigation, Diffusion

State Estimation

2026-09

Bundled Contact Gradients: Stabilizing Differentiable Simulation for Deployable Dynamic Tasks — Zero-Shot, Humanoid, Contact Dynamics, Policy Learning, State Estimation, Simulation Benchmark
BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video — Motion Retargeting, Locomotion, Robustness, Humanoid, State Estimation, Simulation Benchmark
Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training — Simulator, Humanoid, Inverse Kinematics, State Estimation, Physics-Based Character Animation, Human Motion Analysis and Synthesis
UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains — Locomotion, Zero-Shot, Domain Randomization, Humanoid, Proprioception, Fine-tuning
🌟 PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots, website — Sim-to-Real, Locomotion, Humanoid, PPO, State Estimation, Open Source
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots — Humanoid, PPO, State Estimation
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry — Locomotion, Simulator, Humanoid, Walking, PPO, State Estimation

2026-08

Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid — State Estimation, Humanoid, Proprioception, PPO, Real Robot
KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots — State Estimation, Robustness, Humanoid, Gait, Dataset, Physics-Based Character Animation

2026-07

Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning — Reinforcement Learning, Manipulation, State Estimation, Humanoid, PPO, Representation Learning

2026-06

Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground — State Estimation, Humanoid, Walking, Locomotion
$λ$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety — Safety, Humanoid, Collision, State Estimation

2026-05

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots — Locomotion, State Estimation, Real Robot, Humanoid, Proprioception, Foundation Model

2025-11

AutoOdom: Learning Auto-regressive Proprioceptive Odometry for Legged Locomotion — Locomotion, State Estimation
InEKFormer: A Hybrid State Estimator for Humanoid Robots — Humanoid, State Estimation

2025-07

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation — State Estimation

2022-07

An Empirical Evaluation of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems — State Estimation

2019-04

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation — State Estimation

2017-05

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors — State Estimation

2014-10

The invariant extended Kalman filter as a stable observer — State Estimation

Sim-to-Real

2026-07

Optimization of sim-to-real transfer in the humanoid robot NICO — Sim-to-Real, Humanoid, Inverse Kinematics, Physics-Based Character Animation

2026-06

FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control — Few-Shot, Zero-Shot, Domain Randomization, Humanoid, Domain Adaptation, Residual Learning

2026-02

RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Robots — Sim-to-Real, Humanoid

2026-01

🌟 Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control, website — Humanoid, Sim-to-Real, Open Source

2025-10

PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization — Sim-to-Real, Simulator, Humanoid

2025-09

Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion — Sim-to-Real, Locomotion, Humanoid, Representation Learning
Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots — Sim-to-Real

2025-08

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids — Humanoid, Sim-to-Real

2025-05

DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control — Sim-to-Real
Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning — System Identification, Sampling-Based, Sim-to-Real

2025-04

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection — Sim-to-Real, Locomotion, Humanoid

2025-02

Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation — Sim-to-Real, Manipulation

2019-01

Learning Agile and Dynamic Motor Skills for Legged Robots — Sim-to-Real

Hardware Design

2026-08

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles — Humanoid, Optimization-Based, Hardware Design

2026-02

Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids — Humanoid, Hardware Design

2026-01

Fauna Sprout: A lightweight, approachable, developer-ready humanoid robot — Humanoid, Hardware Design

2025-12

Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand: Toward Dexterous Manipulation for Payload Constrained Humanoids — Manipulation, Humanoid, Hardware Design
Olaf: Bringing an Animated Character to Life in the Physical World — Hardware Design
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer — Hardware Design
DIJIT: A Robotic Head for an Active Observer — Hardware Design

2025-11

DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion — Locomotion, Humanoid, Hardware Design
Human-Level Actuation for Humanoids — Humanoid, Hardware Design

2025-10

Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery — Humanoid, Hardware Design
Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot — Humanoid, Hardware Design

2025-09

Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance — Humanoid, Evolutionary, Hardware Design
A Framework for Optimal Ankle Design of Humanoid Robots — Humanoid, Hardware Design
CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids — Humanoid, Hardware Design
AGILOped: Agile Open-Source Humanoid Robot for Research — Humanoid, Hardware Design

2025-07

A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0 — Humanoid, Hardware Design
Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting — Teleoperation, Motion Retargeting, Hardware Design

2025-06

PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids — Humanoid, Hardware Design
Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint — Humanoid, Hardware Design
RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy — Manipulation, Hardware Design
iRonCub 3: The Jet-Powered Flying Humanoid Robot — Humanoid, Hardware Design

2025-04

🌟 Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot, website — Humanoid, Hardware Design, Open Source
🌟 RUKA: Rethinking the Design of Humanoid Hands with Learning, website — Humanoid, Hardware Design, Open Source
🌟 ORCA: Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning, website — Hardware Design, Open Source

2025-03

Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models — Humanoid, Hardware Design

2025-02

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids — Humanoid, Hardware Design
🌟 ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation, website — Manipulation, Humanoid, Hardware Design, Open Source

2025-01

Design and Control of a Bipedal Robotic Character — Biped, Hardware Design

2024-09

🌟 The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics, website — Locomotion, Biped, Humanoid, Hardware Design, Open Source

2024-07

🌟 Berkeley Humanoid: A Research Platform for Learning-based Control, website — Humanoid, Hardware Design, Open Source

2021-04

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors — Humanoid, Motion Planning, Hardware Design

2019-04

🌟 Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation, website — Manipulation, Hardware Design, Open Source

Simulation Benchmark

2026-09

How Long Until Your Robot Ignores You? A Safety Benchmark for LLM Orchestrators in Human-Humanoid Collaboration — Safety, Humanoid, Benchmark, Large Language Model, Simulation Benchmark
Establishing a Dynamic Multimodal HRI Dataset for Engagement Analysis with a Humanoid Robot — Humanoid, Dataset, Simulation Benchmark

2026-08

GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly — MPC, Manipulation, Navigation, MuJoCo, Humanoid, Walking
Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface — Reinforcement Learning, Human Demonstration, MuJoCo, Humanoid, Position Control, PPO
HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction — Humanoid, Benchmark, Simulation Benchmark, Real Robot
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance — Simulator, Humanoid, Distillation, Benchmark, PPO, SAC

2026-07

Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors — Reinforcement Learning, Humanoid, Gait, Dataset, Simulation Benchmark
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations — Whole-Body Control, Human Demonstration, Robustness, Humanoid, Benchmark, Dataset

2026-06

TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes — Zero-Shot, Robustness, Humanoid, Simulation Benchmark
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning — Humanoid, Proprioception, Benchmark, Policy Learning, Simulation Benchmark, Loco-Manipulation and Whole-Body Control
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation — Teleoperation, Manipulation, Zero-Shot, MuJoCo, Humanoid, Vision-Language
Flash-WAM: Modality-Aware Distillation for World Action Models — Manipulation, Humanoid, Distillation, Benchmark, Diffusion, Simulation Benchmark

2026-05

🌟 Adversarial Stress Testing of SPARK Humanoid Safety Filters, website — Safety, Robustness, MuJoCo, Humanoid, Collision, Benchmark
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation — Humanoid, Benchmark, Dataset, Simulation Benchmark

2026-03

Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality — Locomotion, Navigation, Safety, Humanoid, Collision, Benchmark
🌟 ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control, website — Simulation Benchmark, Open Source
Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots — Humanoid, Simulation Benchmark

2026-02

MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation — Manipulation, Navigation, Simulation Benchmark

2025-12

Benchmarking Humanoid Imitation Learning with Motion Difficulty — Imitation Learning, Humanoid, Benchmark, Simulation Benchmark

2025-10

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation — Manipulation, Humanoid, Dataset, Simulation Benchmark
Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report — World Model, Humanoid, Simulation Benchmark

2025-07

🌟 HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning, website — Manipulation, Humanoid, Simulation Benchmark, Open Source

2025-06

DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning — Humanoid, Simulation Benchmark
Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics — Humanoid, Simulation Benchmark
Humanoid World Models: Open World Foundation Models for Humanoid Robotics — World Model, Humanoid, Foundation Model, Simulation Benchmark

2024-12

🌟 Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking, website — Humanoid, Benchmark, Simulation Benchmark, Open Source
🌟 ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks, website — Manipulation, Benchmark, Simulation Benchmark, Open Source

2024-10

🌟 DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning, website — Imitation Learning, Manipulation, Simulation Benchmark, Open Source
🌟 ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI, website — Embodied AI, Simulation Benchmark, Open Source

2024-07

🌟 BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark, website — Manipulation, Benchmark, Simulation Benchmark, Open Source
🌟 GRUtopia: Dream General Robots in a City at Scale, website — Simulation Benchmark, Open Source

2024-06

🌟 RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots, website — Simulation Benchmark, Open Source

2024-04

🌟 Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, website — Reinforcement Learning, Zero-Shot, Humanoid, Simulation Benchmark, Open Source

2024-03

🌟 HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, website — Locomotion, Manipulation, Humanoid, Benchmark, Simulation Benchmark, Open Source

Physics-Based Character Animation

2026-09

Unifying Physics-Based Humanoid Interaction with a Context-Conditioned Interaction Prior — Locomotion, Manipulation, Humanoid, PPO, Physics-Based Character Animation

2026-08

PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots — Humanoid, Physics-Based Character Animation
Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards — Reinforcement Learning, Robustness, Humanoid, Inverse Kinematics, Optimal Control, PPO
GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking — Zero-Shot, Humanoid, Benchmark, Physics-Based Character Animation

2026-06

TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation — Humanoid, Language-Conditioned, Contact Dynamics, Dataset, Physics-Based Character Animation, Simulation Benchmark
PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation — Humanoid, Dataset, Physics-Based Character Animation
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models — Reinforcement Learning, Manipulation, Simulator, Humanoid, Actor-Critic, SAC
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm — Humanoid, Friction, Motion Planning, Dataset, Physics-Based Character Animation
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control — Whole-Body Control, Humanoid, Foundation Model, Diffusion, Multi-Modal, Physics-Based Character Animation
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control — Human Demonstration, Humanoid, Vision-Language, PPO, Physics-Based Character Animation

2026-05

MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control — Humanoid, Diffusion, Physics-Based Character Animation
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control — Reinforcement Learning, Diffusion Policy, Transformer, Humanoid, Pre-training, Dataset

2026-02

Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control — Humanoid, Physics-Based Character Animation
InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions — Physics-Based Character Animation

2025-12

CRISP: Contact-Guided Real2Sim from Monocular Video with Planar Scene Primitives — Physics-Based Character Animation
Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions — Physics-Based Character Animation

2025-10

PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction — Humanoid, Physics-Based Character Animation

2025-09

Learning to Ball: Composing Policies for Long-Horizon Basketball Moves — Physics-Based Character Animation
RobotDancing: Residual-Action RL Enables Robust Long-Horizon Humanoid Motion Tracking — Humanoid, Physics-Based Character Animation

2025-08

FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control — Humanoid, Physics-Based Character Animation
SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and RL — Humanoid, Physics-Based Character Animation
Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics — Humanoid, Physics-Based Character Animation

2025-07

Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why — GAN, Physics-Based Character Animation

2025-06

RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control — Humanoid, Physics-Based Character Animation

2025-05

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning — Reinforcement Learning, Physics-Based Character Animation
MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation — Whole-Body Control, Manipulation, Physics-Based Character Animation
🌟 Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning, website — Reinforcement Learning, Humanoid, Physics-Based Character Animation, Open Source
ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators — Physics-Based Character Animation

2025-04

Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models — Zero-Shot, Humanoid, Foundation Model, Physics-Based Character Animation

2025-03

🌟 CVPR 2025 Oral, TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization, website — Physics-Based Character Animation, Open Source

2025-02

🌟 InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions, website — Whole-Body Control, Physics-Based Character Animation, Open Source

2024-10

🌟 CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control, website — Multi-Task, Diffusion, Physics-Based Character Animation, Open Source

2024-09

🌟 MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting, website — Physics-Based Character Animation, Open Source

2024-08

SkillMimic: Learning Basketball Interaction Skills from Demonstrations — Physics-Based Character Animation

2023-09

🌟 Unified Human-Scene Interaction via Prompted Chain-of-Contacts, website — Physics-Based Character Animation, Open Source

2023-06

Hierarchical Planning and Control for Box Loco-Manipulation — Manipulation, Physics-Based Character Animation

2023-05

🌟 Perpetual Humanoid Control for Real-time Simulated Avatars, website — Humanoid, Physics-Based Character Animation, Open Source

2022-08

🌟 ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters, website — Physics-Based Character Animation, Open Source

2021-08

🌟 AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control, website — Physics-Based Character Animation, Open Source

2018-11

Hierarchical visuomotor control of humanoids — Humanoid, Physics-Based Character Animation

2018-09

Multi-task Deep Reinforcement Learning with PopArt — Reinforcement Learning, Multi-Task, Physics-Based Character Animation

2018-08

🌟 DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills, website — Reinforcement Learning, Physics-Based Character Animation, Open Source

2018-01

Learning Symmetric and Low-energy Locomotion — Locomotion, Physics-Based Character Animation

Human Motion Analysis and Synthesis

2026-09

EmoPose: Vision-Language Model Guided Emotion-Aware Gesture Generation for Humanoid Robots — Navigation, MuJoCo, Humanoid, Vision-Language, Foundation Model, PPO
PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments — Humanoid, Human Motion Analysis and Synthesis

2026-08

RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction — MPC, Sim-to-Real, Transformer, Safety, Humanoid, Collision

2026-07

Imitation of Arm Gestures by the Semi-Humanoid Robot NICO — Humanoid, Human Motion Analysis and Synthesis

2026-06

PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation — Reinforcement Learning, Humanoid, Contact Dynamics, Dataset, PPO, Human Motion Analysis and Synthesis
🌟 WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots, website — Humanoid, Motion Planning, Large Language Model, Human Motion Analysis and Synthesis, Open Source

2026-05

Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors — Zero-Shot, Humanoid, Gait, Foundation Model, Human Motion Analysis and Synthesis

2026-02

EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agents — Human Motion Analysis and Synthesis
🌟 WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos, website — Human Motion Analysis and Synthesis, Open Source

2025-12

Diffusion Forcing for Multi-Agent Interaction Sequence Modeling — Diffusion, Human Motion Analysis and Synthesis
Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction — Human Motion Analysis and Synthesis

2025-08

🌟 Being-M0.5: A Real-Time Controllable Vision-Language-Motion Model, website — Vision-Language, Human Motion Analysis and Synthesis, Open Source

2025-05

🌟 GENMO: A GENeralist Model for Human MOtion, website — Human Motion Analysis and Synthesis, Open Source

2025-04

🌟 HUMOTO: A 4D Dataset of Mocap Human Object Interactions, website — Dataset, Human Motion Analysis and Synthesis, Open Source
PICO: Reconstructing 3D People In Contact with Objects — Human Motion Analysis and Synthesis

2025-03

🌟 FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Video, website — Human Motion Analysis and Synthesis, Open Source
PRIMAL Physically Reactive and Interactive Motor Model for Avatar Learning — Human Motion Analysis and Synthesis
ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinate — Dataset, Multi-Modal, Human Motion Analysis and Synthesis

2024-10

Scaling Large Motion Models with Million-Level Human Motions — Human Motion Analysis and Synthesis

2024-05

Flexible Motion In-betweening with Diffusion Models — Diffusion, Human Motion Analysis and Synthesis

2024-04

Taming Diffusion Probabilistic Models for Character Control — Diffusion, Human Motion Analysis and Synthesis

2023-10

OmniControl: Control Any Joint at Any Time for Human Motion Generation — Human Motion Analysis and Synthesis

2023-07

TEDi: Temporally-Entangled Diffusion for Long-Term Motion Synthesis — Diffusion, Human Motion Analysis and Synthesis

2023-06

Example-based Motion Synthesis via Generative Motion Matching — Human Motion Analysis and Synthesis

2023-05

Guided Motion Diffusion for Controllable Human Motion Synthesis — Diffusion, Human Motion Analysis and Synthesis

2022-12

🌟 PhysDiff: Physics-Guided Human Motion Diffusion Model, website — Diffusion, Human Motion Analysis and Synthesis, Open Source

Usage

# Install dependencies
pip install -r requirements.txt
npm install

# Update recent papers with daily arXiv windows
python scripts/update_daily.py --days 7

# Preview the website
npm run docs:dev

License

MIT

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vergilshawn/Awesome-Humanoid-Robot-Learning

The goal is to efficiently discover highly relevant humanoid robot learning papers without manually browsing arXiv every day.

Python

112 commits

updated Sep 28, 2026

See the code

README

Awesome-Humanoid-Robot-Learning

A curated and automatically updated collection of humanoid robot learning research papers.

Total Papers: 719
Real Robot Papers: 69
Open Source Papers: 128

🌟 indicates papers with detected project/code links.

Loco-Manipulation and Whole-Body Control (245)
Manipulation (68)
Teleoperation (30)
Locomotion (185)
Navigation (23)
State Estimation (20)
Sim-to-Real (13)
Hardware Design (32)
Simulation Benchmark (34)
Physics-Based Character Animation (43)
Human Motion Analysis and Synthesis (26)
Usage

Loco-Manipulation and Whole-Body Control

2026-09

HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Zero-Shot, Humanoid, Large Language Model
Aerial Manipulation in the Wild with Onboard Perception, Policy Learning, and Whole-Body Control — Imitation Learning, Diffusion Policy, MPC, Whole-Body Control, Manipulation, State Estimation
HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments — Reinforcement Learning, Manipulation, MuJoCo, Humanoid, Distillation, Collision
Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation — Reinforcement Learning, Whole-Body Control, Manipulation, Multi-Task, Humanoid, Trajectory Optimization
Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation — Diffusion Policy, Whole-Body Control, Teleoperation, Manipulation, Humanoid, PPO
FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation — Whole-Body Control, Manipulation, MuJoCo, Humanoid, Vision-Language, Large Language Model
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control — Whole-Body Control, Locomotion, Safety, Humanoid, Collision, Loco-Manipulation and Whole-Body Control
Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip — Manipulation, Robustness, Simulator, Humanoid, Fine-tuning, Behavior Cloning
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Proprioception, Distillation
KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation — Reinforcement Learning, Whole-Body Control, Manipulation, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions — Locomotion, Manipulation, Human Demonstration, Humanoid, Policy Learning, Loco-Manipulation and Whole-Body Control
WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination — Whole-Body Control, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Real Robot
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Point Cloud
X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control — Whole-Body Control, Transformer, Real Robot, Humanoid, Proprioception, Foundation Model
Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation — Motion Retargeting, Locomotion, Manipulation, Humanoid, Inverse Kinematics, Dataset
SwingBot: Learning Whole-Body Brachiation for Humanoid Robots — Locomotion, State Estimation, Robustness, Humanoid, PPO, GAN
ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control — Whole-Body Control, Sim-to-Real, Manipulation, Zero-Shot, Humanoid, Walking
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model — Whole-Body Control, Navigation, Zero-Shot, Humanoid, Gait, Path Planning
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Locomotion, Humanoid, Policy Learning
GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation — Whole-Body Control, Teleoperation, Manipulation, Isaac Gym, MuJoCo, Humanoid
BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI — Whole-Body Control, Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation — Whole-Body Control, Manipulation, Vision-Language, Dataset, Loco-Manipulation and Whole-Body Control, Real Robot
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Walking, PPO
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control — Reinforcement Learning, Diffusion Policy, Whole-Body Control, Robustness, Humanoid, Diffusion

2026-08

LAC: Linear and Angular Compliance for Humanoid Whole-body Control — Reinforcement Learning, Whole-Body Control, Manipulation, Humanoid, Dataset, Loco-Manipulation and Whole-Body Control
🌟 DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model, website — Manipulation, World Model, Simulator, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control
GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction — Whole-Body Control, Transformer, World Model, Humanoid, Fine-tuning, Robust Control
FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences — Reinforcement Learning, Sim-to-Real, Locomotion, Manipulation, Zero-Shot, Humanoid
HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL — Reinforcement Learning, Locomotion, Manipulation, Safety, Humanoid, Vision-Language
Throwing a Tight Spiral American Football by a Humanoid Robot — Whole-Body Control, Humanoid, Trajectory Optimization, Underactuated, Contact Dynamics, Loco-Manipulation and Whole-Body Control
Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL — Reinforcement Learning, MPC, Sim-to-Real, Locomotion, Manipulation, Robustness
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References — Reinforcement Learning, Locomotion, Domain Randomization, Humanoid, Path Planning, Collision
LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation — Reinforcement Learning, Manipulation, World Model, Humanoid, Loco-Manipulation and Whole-Body Control
$ω$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation — Imitation Learning, Locomotion, Manipulation, Humanoid, Dataset, PPO
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation — Whole-Body Control, Teleoperation, Manipulation, Generative Models, Human Demonstration, Humanoid
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin — Humanoid, Tactile Sensing, Loco-Manipulation and Whole-Body Control, Real Robot
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts — Humanoid, Policy Learning, PPO, SAC, Loco-Manipulation and Whole-Body Control
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation — Whole-Body Control, Locomotion, Zero-Shot, Humanoid, Distillation, Benchmark

2026-07

Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control — Manipulation, Biped, Humanoid, Trajectory Optimization, PPO, Loco-Manipulation and Whole-Body Control
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball — Zero-Shot, Safety, Humanoid, Benchmark, Loco-Manipulation and Whole-Body Control, Real Robot
Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning — Reinforcement Learning, Teleoperation, Locomotion, Manipulation, Humanoid, Walking
Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation — Manipulation, Humanoid, Vision-Language, PPO, Loco-Manipulation and Whole-Body Control, Real Robot
Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control — Reinforcement Learning, Sim-to-Real, Humanoid, Multi-Modal, Loco-Manipulation and Whole-Body Control
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Fine-tuning, Distillation, DAgger, Loco-Manipulation and Whole-Body Control

2026-06

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes — Sim-to-Real, Manipulation, Navigation, Humanoid, Gaussian Splatting, Vision-Language
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control — Whole-Body Control, Zero-Shot, Humanoid, Foundation Model, Robust Control, Motion Planning
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance — Locomotion, Manipulation, Transformer, Humanoid, Policy Learning, SAC
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Walking
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction — Locomotion, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation — Whole-Body Control, Teleoperation, Locomotion, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking — Reinforcement Learning, Manipulation, Human Demonstration, Humanoid, Goal-Conditioned, Diffusion
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots — Whole-Body Control, Locomotion, Manipulation, Humanoid, Walking, PPO
OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation — Manipulation, Humanoid, Dataset, PPO, Loco-Manipulation and Whole-Body Control
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots — MPC, Whole-Body Control, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control, State Estimation
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning — Locomotion, Manipulation, Safety, Robustness, Humanoid, Vision-Language
RGB: RL Guided Whole-Body MPPI for Humanoid Control — Reinforcement Learning, Whole-Body Control, MuJoCo, Humanoid, Walking, Loco-Manipulation and Whole-Body Control
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation — Teleoperation, Manipulation, Humanoid, Vision-Language, GAN, Loco-Manipulation and Whole-Body Control
Whole-Body Impedance Model Predictive Control for Safe Physical Human--Robot Interaction on Floating-Base Platforms — MPC, Whole-Body Control, Locomotion, Biped, Humanoid, Loco-Manipulation and Whole-Body Control
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning — Teleoperation, Manipulation, Human Demonstration, Humanoid, Admittance Control, Loco-Manipulation and Whole-Body Control
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Fine-tuning
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation — Locomotion, Manipulation, World Model, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation — Teleoperation, Manipulation, Zero-Shot, Domain Randomization, Humanoid, Loco-Manipulation and Whole-Body Control
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers — Whole-Body Control, Locomotion, Manipulation, Safety, Humanoid, Task Planning
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation — Reinforcement Learning, Teleoperation, Motion Retargeting, Manipulation, Human Demonstration, Humanoid
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors — Sim-to-Real, Teleoperation, Manipulation, Simulator, Humanoid, Foundation Model
🌟 M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking, website — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Locomotion, Manipulation, Simulator
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking — Whole-Body Control, Transformer, Zero-Shot, Humanoid, Dataset, Loco-Manipulation and Whole-Body Control
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots — Whole-Body Control, Humanoid, Gait, Diffusion, Loco-Manipulation and Whole-Body Control
SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation — Whole-Body Control, Sim-to-Real, Manipulation, Robustness, Humanoid, Loco-Manipulation and Whole-Body Control

2026-05

LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World — Teleoperation, Manipulation, Robustness, Simulator, Humanoid, Gaussian Splatting
Constrained Whole-Body Tracking for Humanoid Robots — Reinforcement Learning, Teleoperation, Safety, Humanoid, Collision, Loco-Manipulation and Whole-Body Control
HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads — Reinforcement Learning, Imitation Learning, Whole-Body Control, Teleoperation, Humanoid, Vision-Language
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking — Whole-Body Control, Humanoid, Fine-tuning, Loco-Manipulation and Whole-Body Control
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control — Whole-Body Control, Humanoid, Language-Conditioned, PPO, Diffusion, Loco-Manipulation and Whole-Body Control

2026-04

Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking — Reinforcement Learning, Locomotion, Humanoid, PPO, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 CLAW: Composable Language-Annotated Whole-body Motion Generation, website — Whole-Body Control, MuJoCo, Humanoid, Language-Conditioned, Dataset, Loco-Manipulation and Whole-Body Control
HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation — Manipulation, Biped, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Sumo: Reinforcement Learning for Humanoid Loco-manipulation with Interactable 3D Scene Semantics, website — Reinforcement Learning, Manipulation, Navigation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2026-03

RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids — Locomotion, MuJoCo, Humanoid, Fine-tuning, Distillation, Loco-Manipulation and Whole-Body Control
🌟 ZeroWBC: Learning Natural Visuomotor Humanoid Control Directly from Human Egocentric Video, website — Whole-Body Control, Teleoperation, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control, Open Source
Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating, website — Whole-Body Control, Safety, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation — Manipulation, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
🌟 SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning, website — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2026-02

OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety — Safety, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction — Humanoid, Loco-Manipulation and Whole-Body Control
Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
General Humanoid Whole-Body Control via Pretraining and Fast Adaptation — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model, website — World Model, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation — Sim-to-Real, Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Human-Like Badminton Skills for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control — Humanoid, Loco-Manipulation and Whole-Body Control
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization — Trajectory Optimization, Sampling-Based, Loco-Manipulation and Whole-Body Control
🌟 Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework — Humanoid, Loco-Manipulation and Whole-Body Control
PDF-HR: Pose Distance Fields for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control
🌟 HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour — Loco-Manipulation and Whole-Body Control
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control — Zero-Shot, Loco-Manipulation and Whole-Body Control

2026-01

Robust and Generalized Humanoid Motion Tracking — Humanoid, Loco-Manipulation and Whole-Body Control
RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing — Humanoid, Loco-Manipulation and Whole-Body Control
PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes — Manipulation, Loco-Manipulation and Whole-Body Control
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes — Humanoid, Collision, Loco-Manipulation and Whole-Body Control
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations — Human Demonstration, Humanoid, Loco-Manipulation and Whole-Body Control
Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids — Humanoid, Loco-Manipulation and Whole-Body Control
Deep Whole-body Parkour — Loco-Manipulation and Whole-Body Control

2025-12

Coordinated Humanoid Manipulation with Choice Policies — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
EGM: Efficiently Learning General Motion Tracking Policy for High Dynamic Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Semantic Co-Speech Gesture Synthesis and Real-Time Control for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation — Humanoid, Loco-Manipulation and Whole-Body Control
PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations — Humanoid, Loco-Manipulation and Whole-Body Control
Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input — Humanoid, Loco-Manipulation and Whole-Body Control
Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer — Sim-to-Real, Humanoid, Loco-Manipulation and Whole-Body Control

2025-11

Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary — Humanoid, Loco-Manipulation and Whole-Body Control
Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation — Reinforcement Learning, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments — Humanoid, Adaptive Control, Loco-Manipulation and Whole-Body Control
SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control — Humanoid, Loco-Manipulation and Whole-Body Control
SafeFall: Learning Protective Control for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data — Humanoid, Loco-Manipulation and Whole-Body Control
VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation — Sim-to-Real, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation — Manipulation, Loco-Manipulation and Whole-Body Control
Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
Robot Crash Course: Learning Soft and Stylized Falling — Loco-Manipulation and Whole-Body Control
Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots — Humanoid, Impact, Loco-Manipulation and Whole-Body Control
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Unified Humanoid Fall-Safety Policy from a Few Demonstrations — Safety, Humanoid, Loco-Manipulation and Whole-Body Control
Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning — Humanoid, Fine-tuning, Distillation, Loco-Manipulation and Whole-Body Control
GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction — Humanoid, Loco-Manipulation and Whole-Body Control
BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning — Reinforcement Learning, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System — Humanoid, Loco-Manipulation and Whole-Body Control

2025-10

Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments — Loco-Manipulation and Whole-Body Control
One-shot Humanoid Whole-body Motion Learning — Humanoid, Loco-Manipulation and Whole-Body Control
Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints — Humanoid, Loco-Manipulation and Whole-Body Control
SoftMimic: Learning Compliant Whole-body Control from Examples — Whole-Body Control, Loco-Manipulation and Whole-Body Control
From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance — Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control
Towards Adaptable Humanoid Control via Adaptive Motion Tracking — Humanoid, Loco-Manipulation and Whole-Body Control
Learning Human-Humanoid Coordination for Collaborative Object Carrying — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Ego-Vision World Model for Humanoid Contact Planning, website — World Model, Humanoid, Contact Planning, Loco-Manipulation and Whole-Body Control, Open Source
DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System — Humanoid, Loco-Manipulation and Whole-Body Control
It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning — Manipulation, Humanoid, Residual Learning, Loco-Manipulation and Whole-Body Control
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking — Motion Retargeting, Humanoid, Loco-Manipulation and Whole-Body Control
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control

2025-09

OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Towards Versatile Humanoid Table Tennis: Unified Reinforcement Learning with Prediction Augmentation — Reinforcement Learning, Humanoid, Loco-Manipulation and Whole-Body Control
SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation — Manipulation, Humanoid, Residual Learning, Loco-Manipulation and Whole-Body Control
HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
KungfuBot 2: Learning Versatile Motion Skills for Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
Implicit Kinodynamic Motion Retargeting for Human-to-humanoid Imitation Learning — Imitation Learning, Motion Retargeting, Humanoid, Loco-Manipulation and Whole-Body Control
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion — Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 Track Any Motions under Any Disturbances, website — Loco-Manipulation and Whole-Body Control, Open Source
🌟 Behavior Foundation Model for Humanoid Robots, website — Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control, Open Source
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning — Reinforcement Learning, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2025-08

🌟 HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
HuBE: Cross-Embodiment Human-like Behavior Execution for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
HumanoidVerse: A Versatile Humanoid for Vision-Language Guided Multi-Object Rearrangement — Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Task and Motion Planning for Humanoid Loco-manipulation — Manipulation, Humanoid, Motion Planning, Loco-Manipulation and Whole-Body Control
Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation — Humanoid, Optimization-Based, Loco-Manipulation and Whole-Body Control
GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation — Humanoid, Loco-Manipulation and Whole-Body Control
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion — Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot — Humanoid, Loco-Manipulation and Whole-Body Control

2025-07

EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation — Humanoid, Loco-Manipulation and Whole-Body Control
Keep on Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training — Humanoid, Loco-Manipulation and Whole-Body Control
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control

2025-06

Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots — Whole-Body Control, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality — Imitation Learning, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
GMT: General Motion Tracking for Humanoid Whole-Body Control — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction — Whole-Body Control, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World Reinforcement Learning, website — Reinforcement Learning, Loco-Manipulation and Whole-Body Control
Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots — Humanoid, Loco-Manipulation and Whole-Body Control
From Motion to Behavior: Hierarchical Modeling of Humanoid Generative Behavior Control — Humanoid, Loco-Manipulation and Whole-Body Control

2025-05

SignBot: Learning Human-to-Humanoid Sign Language Interaction — Humanoid, Loco-Manipulation and Whole-Body Control
Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control — Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Mobi-π: Mobilizing Your Robot Learning Policy, website — Loco-Manipulation and Whole-Body Control, Open Source
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors — Humanoid, Loco-Manipulation and Whole-Body Control
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control — Whole-Body Control, Humanoid, Self-Supervised, Loco-Manipulation and Whole-Body Control
Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HuB: Learning Extreme Humanoid Balance, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
JAEGER: Dual-Level Humanoid Whole-Body Controller — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 PyRoki: A Modular Toolkit for Robot Kinematic Optimization, website — Loco-Manipulation and Whole-Body Control, Open Source
TWIST: Teleoperated Whole-Body Imitation System — Loco-Manipulation and Whole-Body Control
🌟 H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2025-04

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning, website — Locomotion, Humanoid, Policy Learning, Loco-Manipulation and Whole-Body Control, Open Source
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models — Manipulation, Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control
🌟 Embodied Chain of Action Reasoning with Multi-Modal Foundation Model for Humanoid Loco-manipulation, website — Manipulation, Humanoid, Foundation Model, Multi-Modal, Loco-Manipulation and Whole-Body Control, Open Source

2025-03

FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation — Locomotion, Manipulation, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control
🌟 Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills, website — Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control, Open Source
Trinity: A Modular Humanoid Robot AI System — Humanoid, Loco-Manipulation and Whole-Body Control
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities, website — Manipulation, Loco-Manipulation and Whole-Body Control
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo — MuJoCo, Loco-Manipulation and Whole-Body Control

2025-02

HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery — Humanoid, Curriculum Learning, Loco-Manipulation and Whole-Body Control
🌟 HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Learning Getting-Up Policies for Real-World Humanoid Robots, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Learning Humanoid Standing-up Control across Diverse Postures — Humanoid, Loco-Manipulation and Whole-Body Control
HugWBC: A Unified and General Humanoid Whole-Body Controller — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control
🌟 SPARK: A Toolbox for Safe Humanoid Autonomy and Teleoperation, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions, website — Humanoid, Collision, Loco-Manipulation and Whole-Body Control, Open Source

2024-12

Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 Learning from Massive Human Videos for Universal Humanoid Pose Control, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 ExBody2: Advanced Expressive Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2024-11

A Behavior Architecture for Fast Humanoid Robot Door Traversals, website — Humanoid, Loco-Manipulation and Whole-Body Control
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control — Domain Randomization, Humanoid, Diffusion, Loco-Manipulation and Whole-Body Control

2024-10

EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning — Humanoid, Loco-Manipulation and Whole-Body Control
🌟 HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
Whole-Body Dynamic Throwing with Legged Manipulators — Loco-Manipulation and Whole-Body Control

2024-09

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation, website — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing — MPC, Locomotion, Sampling-Based, Diffusion, Loco-Manipulation and Whole-Body Control

2024-07

🌟 Flow Multi-Support: Flow Matching Imitation Learning for Multi-Support Manipulation, website — Imitation Learning, Manipulation, PPO, Flow Matching, Loco-Manipulation and Whole-Body Control, Open Source

2024-06

🌟 HumanPlus: Humanoid Shadowing and Imitation from Humans, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts, website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation, website — Manipulation, Loco-Manipulation and Whole-Body Control, Open Source

2024-03

🌟 Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation, website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2024-02

🌟 Expressive Whole-Body Control for Humanoid Robots, website — Whole-Body Control, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2023-10

Sim-to-Real Learning for Humanoid Box Loco-Manipulation — Sim-to-Real, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control

2022-12

Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo — MuJoCo, Loco-Manipulation and Whole-Body Control

Manipulation

2026-09

Praxis: Distilling Physical Interaction Priors from Egocentric Videos for Generalizable Whole-Body Manipulation — Manipulation, Navigation, Human Demonstration, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control
Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation — Manipulation, Humanoid, PPO
Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control — Sim-to-Real, Manipulation, Humanoid
Development of a Humanoid Robot Prototype for Multimodal Human-Robot Interaction — Manipulation, Humanoid, Large Language Model, PPO, Real Robot

2026-08

Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception — Manipulation, Biped, Humanoid, Walking, Proprioception, State Estimation
Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence — Manipulation, Robustness, Humanoid, Vision-Language, Dataset, Simulation Benchmark

2026-07

Handroid: Bridging Dexterous Hand and Humanoid — Teleoperation, Locomotion, Manipulation, Humanoid, Gait, PPO
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning — Humanoid, Dataset, Policy Learning, Manipulation
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation — Manipulation, Humanoid

2026-06

Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments — Teleoperation, Manipulation, Zero-Shot, Human Demonstration, Humanoid, Inverse Kinematics
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation — Imitation Learning, Manipulation, Humanoid, Dataset, Multi-Modal, Simulation Benchmark
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory — Manipulation, Humanoid, Benchmark, PPO, GAN, Simulation Benchmark
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Proprioception
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations — Manipulation, Navigation, Human Demonstration, Humanoid, PPO, Loco-Manipulation and Whole-Body Control
ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning — Reinforcement Learning, Manipulation, Humanoid, Vision-Language
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training — Zero-Shot, Humanoid, Manipulation
Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs — Humanoid, PPO, Manipulation

2026-04

A Rapid Deployment Pipeline for Autonomous Humanoid Grasping Based on Foundation Models — Zero-Shot, Real Robot, Humanoid, Inverse Kinematics, 3D Reconstruction, Foundation Model
🌟 Humanoid Manipulation with Touch Dreaming, website — Manipulation, Humanoid, Policy Learning, Open Source

2026-03

🌟 HumDex: Humanoid Dexterous Manipulation Made Easy — Manipulation, Humanoid, Open Source
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots — Manipulation

2026-02

🌟 DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos, website — World Model, Manipulation, Open Source

2026-01

HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation — Manipulation, Humanoid, Impedance Control, Vision-Language
Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation — Manipulation, Humanoid
DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation — Manipulation
Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot — Humanoid, Manipulation

2025-11

SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot — Humanoid, Manipulation
Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations — Manipulation, Human Demonstration
In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data — Manipulation
RGMP: Recurrent Geometric-prior Multimodal Policy for Generalizable Humanoid Robot Manipulation — Manipulation, Humanoid
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields — Manipulation
EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations — Manipulation, Human Demonstration
Endowing GPT-4 with a Humanoid Body: Building the Bridge Between Off-the-Shelf VLMs and the Physical World — Humanoid, Manipulation

2025-10

A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation — Manipulation, Humanoid, Dataset
Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots — Humanoid, Proprioception, Manipulation

2025-09

EgoDemoGen: Novel Egocentric Demonstration Generation Enables Viewpoint-Robust Manipulation — Manipulation
Residual Off-Policy RL for Finetuning Behavior Cloning Policies — Behavior Cloning, Manipulation
MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos — Manipulation, Humanoid

2025-08

Masquerade: Learning from In-the-wild Human Videos using Data-Editing — Manipulation
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots — Manipulation, Humanoid

2025-07

H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation — Manipulation
🌟 Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos, website — Vision-Language, Manipulation, Open Source
🌟 EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos, website — Vision-Language, Manipulation, Open Source
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming — Humanoid, Manipulation

2025-06

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation — Manipulation, Humanoid, Vision-Language
Vision in Action: Learning Active Perception from Human Demonstrations — Human Demonstration, Manipulation

2025-05

DreamGen: Unlocking Generalization in Robot Learning through Neural Trajectories — Manipulation
EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video — Manipulation

2025-03

🌟 Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation, website — Manipulation, Open Source
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots — Humanoid, Foundation Model, Manipulation
🌟 Humanoid Policy ~ Human Policy, website — Humanoid, Manipulation, Open Source
Humanoids in Hospitals: A Technical Study of Humanoid Surrogates for Dexterous Medical Interventions — Humanoid, Manipulation
🌟 Unified Video Action Model, website — Manipulation, Open Source

2025-02

Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm — Humanoid, Manipulation

2025-01

MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data — Manipulation

2024-12

🌟 ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition, website — Manipulation, Open Source

2024-11

🌟 Object-Centric Dexterous Manipulation from Human Motion Data, website — Manipulation, Open Source
🌟 DexHub and DART: Towards Internet-Scale Robot Data Collection, website — Manipulation, Open Source
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck — Teleoperation, Manipulation

2024-10

🌟 EgoMimic: Scaling Imitation Learning via Egocentric Video, website — Imitation Learning, Manipulation, Open Source
🌟 Learning to Look: Seeking Information for Decision Making via Policy Factorization, website — Manipulation, Open Source
🌟 OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation, website — Manipulation, Humanoid, Open Source
🌟 Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies, website — Manipulation, Humanoid, Diffusion, Open Source

2024-08

🌟 ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, website — Teleoperation, Manipulation, Open Source

2024-07

🌟 Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, website — Imitation Learning, Teleoperation, Manipulation, Open Source
🌟 Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, website — Teleoperation, Manipulation, Open Source

2024-04

🌟 Learning Visuotactile Skills with Two Multifingered Hands, website — Manipulation, Open Source

2024-03

🌟 DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation, website — Manipulation, Open Source

Teleoperation

2026-09

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation — Teleoperation, Humanoid, Proprioception, Dataset, Loco-Manipulation and Whole-Body Control, Manipulation
PGMT: Perceptive General Motion Tracking for Humanoid Robots — Teleoperation, Locomotion, Zero-Shot, Humanoid, PPO, Real Robot
SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation — Teleoperation, Locomotion, Manipulation, Humanoid
Can People Distinguish Human and AI Agency in Humanoid Teleoperation? A Preliminary Study of Agency Perception — Teleoperation, Humanoid, PPO
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence — Motion Retargeting, Locomotion, Humanoid, Point Cloud, Teleoperation

2026-08

Teleopit: A Full-Embodiment Humanoid Teleoperation System — Teleoperation, Locomotion, Manipulation, Humanoid, Optimization-Based

2026-07

Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination — Teleoperation, Humanoid, PPO
HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum — Teleoperation, Locomotion, Humanoid

2026-06

LadderMan: Learning Humanoid Perceptive Ladder Climbing — Reinforcement Learning, Sim-to-Real, Teleoperation, Manipulation, Zero-Shot, Humanoid
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots — Imitation Learning, Teleoperation, Motion Retargeting, Humanoid, GAN, Real Robot

2026-05

Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation — Sim-to-Real, Teleoperation, MuJoCo, Humanoid, Walking, Human Motion Analysis and Synthesis

2026-02

CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation — Teleoperation, Humanoid
ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control — Teleoperation, Humanoid
TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior — Teleoperation, Humanoid
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation — Teleoperation, Humanoid

2025-11

Learning Adaptive Neural Teleoperation for Humanoid Robots — Teleoperation, Humanoid

2025-10

Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots — Teleoperation, Humanoid
Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation — Teleoperation, Humanoid
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy — Humanoid, Teleoperation

2025-08

Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation — Teleoperation, Manipulation, Humanoid, Parameter Estimation
CHILD: a Whole-Body Humanoid Teleoperation System — Teleoperation, Humanoid

2025-06

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks — Teleoperation, Humanoid

2025-05

Heavy lifting tasks via haptic teleoperation of a wheeled humanoid — Teleoperation, Humanoid
🌟 TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation, website — Teleoperation, Simulator, Benchmark, Open Source
Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots — Humanoid, Teleoperation

2025-03

NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots — Teleoperation, Humanoid

2024-09

High-Speed and Impact Resilient Teleoperation of Humanoid Robots — Teleoperation, Humanoid, Impact

2023-09

🌟 Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, website — Imitation Learning, Teleoperation, Manipulation, Humanoid, Open Source

2023-01

Teleoperation of Humanoid Robots: A Survey, website — Teleoperation, Humanoid

2022-03

iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, website — Humanoid, Teleoperation

Locomotion

2026-09

Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators — Locomotion, Humanoid, Flow Matching
Tactile Sensing Array for Multi-Phalanx Sensing in Humanoid Hands — Humanoid, Tactile Sensing, Proprioception, Locomotion
Rolling-WAM: World Action Models with Rolling Imagination — Manipulation, Humanoid, Locomotion, Real Robot
Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory — Locomotion, Robustness, Humanoid, Gait, PPO
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion — Locomotion, Humanoid, Tactile Sensing, Impact, PPO
🌟 ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control, website — Reinforcement Learning, Locomotion, Human Demonstration, Safety, Humanoid, Real Robot
DAVIS: A Depth-Only End-to-End Active-Vision Framework for Humanoid Soccer Skills — Humanoid, Impact, Locomotion, Real Robot
Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer — Reinforcement Learning, Sim-to-Real, Humanoid, PPO, Locomotion
Learning Expressive Humanoid Locomotion from Monocular Runway Videos for Robot Fashion Shows — Locomotion, Humanoid, Walking
Humanoid Locomotion with a Fly-Inspired Recurrent Controller — Locomotion, Humanoid, PPO
PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning — Reinforcement Learning, Humanoid, Goal-Conditioned, Policy Learning, DAgger, Locomotion
Teaching Reinforcement Learning and Humanoid Robotics to High-School Students: An Expert-Validated Curriculum Design on a Low-Cost Open Platform — Reinforcement Learning, Open Source, Humanoid, Walking, System Identification, Policy Learning
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control — Diffusion Policy, Humanoid, PPO, Diffusion, Locomotion
LLM-based Conversational AI Knowledge Assistant for MyBuddy Humanoid Robot — Humanoid, Large Language Model, PPO, Locomotion
Smoothness as a Constraint for Stable Humanoid Locomotion — Reinforcement Learning, Whole-Body Control, Locomotion, Embodied AI, Humanoid, Loco-Manipulation and Whole-Body Control
STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots — Reinforcement Learning, Manipulation, Humanoid, Gait, Walking, Distillation
HIGenNTO: Scalable Humanoid Interaction Generation via Noise-Space Trajectory Optimization — Humanoid, Trajectory Optimization, Collision, PPO, Locomotion
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion — Locomotion, Humanoid, Proprioception, PPO, GAN, State Estimation
Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations — Motion Retargeting, Locomotion, Human Demonstration, Humanoid, Collision, Real Robot
Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction — Reinforcement Learning, Teleoperation, Locomotion, Zero-Shot, Human Demonstration, Humanoid
OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots — Humanoid, Walking, PPO, Locomotion
ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids — Reinforcement Learning, Locomotion, Safety, Robustness, Humanoid
OJOx: Specification-Conditioned Demonstrations for Embodied AI in Construction — Human Demonstration, Embodied AI, Humanoid, Locomotion
EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Gait, Walking, Dataset
DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal — World Model, Humanoid, PPO, Locomotion, Real Robot
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising — Locomotion, Humanoid, Real Robot
GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media — Reinforcement Learning, Locomotion, Zero-Shot, Humanoid, Contact Dynamics, Real Robot
Visible-Reachable Workspace for Perception-Aware Humanoid Design — Manipulation, Humanoid, Benchmark, Locomotion, Real Robot
Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control — MPC, Locomotion, Biped, Humanoid, Walking, Optimal Control
RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models — Locomotion, MuJoCo, Humanoid, Distillation, Simulation Benchmark, Real Robot
World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain — Locomotion, World Model, Humanoid, Proprioception, PPO, State Estimation
Humanoid Safe Stop via Learned Stoppability Value — Humanoid, SAC, Locomotion

2026-08

Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids — Humanoid, PPO, Locomotion
Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters — Sim-to-Real, Locomotion, Manipulation, Zero-Shot, Humanoid, Proprioception
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion — Locomotion, Zero-Shot, Humanoid, Proprioception, Distillation, PPO
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions — Locomotion, Biped, Humanoid, Walking
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking — Sim-to-Real, Robustness, Real Robot, Humanoid, Motion Planning, Locomotion
EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control — Humanoid, Vision-Language, Locomotion
Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion — Locomotion, Zero-Shot, Humanoid, Proprioception, Policy Learning, Actor-Critic
Learning Context-Aware Motion Priors for Humanoid Control — Humanoid, Dataset, Policy Learning, Locomotion
PFM-HR: Pose Flow Matching for Humanoid Robots — Reinforcement Learning, Humanoid, Flow Matching, Locomotion
Toward Certified Functional Safety for Industrial Humanoid Robots: The Fail-Passive Gap and a Feasibility Study — Locomotion, Manipulation, Safety, Biped, Humanoid, Walking
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior — Safety, Humanoid, PPO, Locomotion
Perception-and-action system for humanoid robot task execution in construction — Multi-Task, Humanoid, Locomotion

2026-07

CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning — Reinforcement Learning, Manipulation, Humanoid, Foundation Model, Fine-tuning, Locomotion
Speech2Grasp: Data-Efficient Transfer of Text-Conditioned Grasp Detection to Speech in Humanoid Robots — Robustness, Humanoid, Vision-Language, Multi-Modal, Locomotion, Real Robot
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation — Reinforcement Learning, Locomotion, Navigation, Humanoid, Gait, Distillation
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids — Humanoid, Vision-Language, Foundation Model, Fine-tuning, Benchmark, Locomotion
Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control — Humanoid, Locomotion
What Matters in Humanoid General Motion Tracking? An Empirical Study — Zero-Shot, Humanoid, Locomotion
Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data — Humanoid, Locomotion, Real Robot
Motion Primitive Discovery in a Humanoid Robot via Self-Organising Maps for Phase Recognition — Humanoid, PPO, GAN, Locomotion
From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation — Humanoid, Vision-Language, Collision, Locomotion
Scaling Behavior Foundation Model for Humanoid Robots — Transformer, Humanoid, Foundation Model, Locomotion
GaitSpan: Growing Humanoid Locomotion from Walking to Running — Locomotion, Zero-Shot, Humanoid, Gait, Walking, PPO
ContactMimic: Humanoid Object Interaction via Contact Control — Manipulation, Humanoid, Locomotion
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains — Reinforcement Learning, Sim-to-Real, Locomotion, Humanoid, Gait, PPO
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion — Locomotion, Humanoid, Trajectory Optimization, Dataset, PPO

2026-06

Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot — Reinforcement Learning, Imitation Learning, Locomotion, Zero-Shot, Humanoid, Gait
🌟 FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion, website — Reinforcement Learning, Locomotion, MuJoCo, Humanoid, Actor-Critic, SAC
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning — Manipulation, Human Demonstration, Humanoid, Motion Planning, Locomotion
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies — Reinforcement Learning, Sim-to-Real, Locomotion, Human Demonstration, Real Robot, Humanoid
Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI — Locomotion, Manipulation, Humanoid, Dataset, GAN
Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes — Biped, Walking, Impact, Locomotion
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot — MPC, Locomotion, Manipulation, Biped, Optimization-Based, Real Robot
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion — Locomotion, Domain Randomization, Robustness, Humanoid, Proprioception, State Estimation
🌟 MotionVLA: Vision-Language-Action Model for Humanoid Motion, website — Humanoid, Vision-Language, PPO, Locomotion, Open Source
Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids — Reinforcement Learning, Robustness, Humanoid, Actor-Critic, Locomotion
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots — Safety, Humanoid, Dataset, Locomotion, Real Robot
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning — Reinforcement Learning, Locomotion, Humanoid, Real Robot
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains — Reinforcement Learning, Locomotion, Navigation, Robustness, Humanoid, Distillation
MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds — Reinforcement Learning, Locomotion, Safety, Biped, Humanoid
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands — Humanoid, Proprioception, Distillation, Locomotion
PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning — Locomotion, Humanoid, Walking, Proprioception, State Estimation
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking — Reinforcement Learning, Locomotion, Manipulation, Navigation, Robustness, Humanoid
Predictive Style Matching: Natural and Robust Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Gait, PPO
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, VAE
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Proprioception, State Estimation
🌟 Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation, website — Reinforcement Learning, MPC, Locomotion, Manipulation, Humanoid, Open Source
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation — Reinforcement Learning, Locomotion, Zero-Shot, Humanoid, Gait, Walking
PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments — Humanoid, Distillation, Policy Learning, Locomotion

2026-05

Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion — Reinforcement Learning, Sim-to-Real, Locomotion, Navigation, Zero-Shot, Humanoid
SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World — Locomotion, Humanoid, PPO
SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints — Sim-to-Real, Locomotion, Zero-Shot, Humanoid, Gait
MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots — Reinforcement Learning, Locomotion, Humanoid, Distillation, Policy Learning, VAE
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos — Imitation Learning, Simulator, Humanoid, Sampling-Based, Locomotion
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors — Reinforcement Learning, Locomotion, Humanoid, Walking, Real Robot
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion — Locomotion, Robustness, Humanoid, Gait, PPO, Real Robot

2026-04

QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear — Reinforcement Learning, Locomotion, Humanoid, Contact Dynamics, Impact, Dataset
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions — Motion Retargeting, Safety, Humanoid, Collision, Locomotion
🌟 RoSHI: Large-scale Motion Imitation in Humanoid Robots via World Models, website — World Model, Humanoid, Locomotion, Open Source

2026-03

CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion — Locomotion, Robustness, Humanoid
Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping — Sim-to-Real, Locomotion, Humanoid, Walking, Navigation, Real Robot
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation — Locomotion, Humanoid, Distillation

2026-02

Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits — Humanoid, Gait, Locomotion
🌟 APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots, website — Humanoid, Locomotion, Open Source
🌟 ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking, website — Reinforcement Learning, Humanoid, Walking, Locomotion, Open Source
Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels — Locomotion, Humanoid
A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion — Locomotion, Humanoid
Scalable and General Whole-Body Control for Cross-Humanoid Locomotion — Whole-Body Control, Locomotion, Humanoid
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation — Reinforcement Learning, Humanoid, Distillation, Locomotion
CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains — Locomotion, Humanoid
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains — Locomotion, Humanoid
Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion — Sim-to-Real, Locomotion

2026-01

FastStair: Learning to Run Up Stairs with Humanoid Robots — Humanoid, Locomotion
AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding — Locomotion
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds — Locomotion, Humanoid
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles — Humanoid, Locomotion

2025-12

Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control — Locomotion, Humanoid
RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion — Locomotion, Humanoid
E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid
Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy — Zero-Shot, Humanoid, Locomotion
Symphony: A Heuristic Normalized Calibrated Advantage Actor and Critic Algorithm in application for Humanoid Robots — Humanoid, Locomotion
A Hierarchical, Model-Based System for High-Performance Humanoid Soccer — Humanoid, Locomotion
Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction — Locomotion, Humanoid, Gait
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes — Sim-to-Real, Locomotion, Humanoid
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer — Locomotion, Few-Shot, Humanoid
A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs — Locomotion, Humanoid

2025-11

Reference-Free Sampling-Based Model Predictive Control — Sampling-Based, Locomotion

2025-10

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control — Walking, Locomotion
PHUMA: Physically-Grounded Humanoid Locomotion Dataset — Locomotion, Humanoid, Dataset
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels — Locomotion
Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion — Locomotion, Humanoid
PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing — Locomotion, Humanoid
Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion — Locomotion, Humanoid
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction — Locomotion, Humanoid

2025-09

Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning — Humanoid, Locomotion
RuN: Residual Policy for Natural Humanoid Locomotion — Locomotion, Humanoid
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided RL — Humanoid, Locomotion
Reduced-Order Model-Guided RL for Demonstration-Free Humanoid Locomotion — Locomotion, Humanoid
HuMam: Humanoid Motion Control via End-to-End Deep RL with Mamba — Humanoid, Locomotion
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids — Humanoid, Locomotion

2025-08

Traversing Narrow Paths: A Two-Stage RL Framework for Robust and Safe Humanoid Walking — Humanoid, Walking, Locomotion
No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets — Locomotion, Humanoid
Geometry-Aware Predictive Safety Filters on Humanoids — Safety, Humanoid, Locomotion
MASH: Cooperative-Heterogeneous Multi-Agent RL for Single Humanoid Robot Locomotion — Locomotion, Humanoid
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy — Locomotion, Humanoid
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running — Locomotion, Biped
Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy — Reinforcement Learning, Locomotion, Humanoid

2025-07

Success in Humanoid Reinforcement Learning under Partial Observation — Reinforcement Learning, Humanoid, Locomotion
Mechanical Intelligence-Aware Curriculum RL for Humanoids with Parallel Actuation — Humanoid, Locomotion
Learning Humanoid Arm Motion via Centroidal Momentum Regularized Multi-Agent Reinforcement Learning — Reinforcement Learning, Humanoid, Locomotion

2025-06

Booster Gym: An End-to-End RL Framework for Humanoid Robot Locomotion — Locomotion, Humanoid
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion — Locomotion, Humanoid
🌟 MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains, website — Humanoid, Gait, Locomotion, Open Source
A Gait Driven RL Framework for Humanoid Robots — Humanoid, Gait, Locomotion
Learning Aerodynamics for the Control of Flying Humanoid Robots — Humanoid, Locomotion

2025-05

🌟 FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control, website — Reinforcement Learning, Humanoid, TD3, Locomotion, Open Source
Gait-Conditioned RL with Multi-Phase Curriculum for Humanoid Locomotion — Locomotion, Humanoid, Gait
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments — Locomotion, Collision
One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion — Locomotion, Humanoid
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion — Locomotion, Humanoid
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion — Locomotion, Humanoid
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics — Safety, Humanoid, Locomotion
Let Humanoids Hike! Integrative Skill Development on Complex Trails — Humanoid, Locomotion
🌟 VideoMimic: Visual imitation enables contextual humanoid control, website — Humanoid, Locomotion, Open Source

2025-04

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings — Humanoid, Diffusion, Locomotion
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep RL — Humanoid, Walking, Locomotion
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion — Locomotion, Humanoid, Pre-training, Fine-tuning
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion — Locomotion, Humanoid
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs — Locomotion, Biped, Humanoid

2025-03

StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion — Locomotion, Humanoid, Distillation
Natural Humanoid Robot Locomotion with Generative Motion Prior — Locomotion, Humanoid
LiPS: Large-Scale Humanoid Robot RL with Parallel-Series Structures — Humanoid, Locomotion
Distillation-PPO: A Novel Two-Stage RL Framework for Humanoid Robot Perceptive Locomotion — Locomotion, Humanoid, Distillation, PPO
🌟 HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion, website — Whole-Body Control, Locomotion, Humanoid, Open Source
Learning Perceptive Humanoid Locomotion over Challenging Terrain — Locomotion, Humanoid

2025-02

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning — Reinforcement Learning, Locomotion, Humanoid
Learning Humanoid Locomotion with World Model Reconstruction — Locomotion, World Model, Humanoid
🌟 VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception, website — Locomotion, Humanoid, Open Source
🌟 BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds, website — Locomotion, Humanoid, Open Source

2024-11

Learning Humanoid Locomotion with Perceptive Internal Model — Locomotion, Humanoid
🌟 Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing, website — Humanoid, Locomotion, Open Source

2024-10

🌟 Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, website — Locomotion, Humanoid, Open Source
🌟 Learning Humanoid Locomotion over Challenging Terrain, website — Locomotion, Humanoid, Open Source

2024-08

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning — Locomotion, World Model, Humanoid

2024-06

🌟 Humanoid Parkour Learning, website — Humanoid, Locomotion, Open Source

2024-04

Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey — Reinforcement Learning, Locomotion, Biped

2024-02

🌟 Humanoid Locomotion as Next Token Prediction, website — Locomotion, Humanoid, Open Source
🌟 Whole-body Humanoid Robot Locomotion with Human Reference, website — Locomotion, Humanoid, Open Source

2024-01

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control — Reinforcement Learning, Locomotion, Biped

2023-09

Learning to Walk and Fly with Adversarial Motion Priors — Locomotion

2023-07

Benchmarking Potential Based Rewards for Learning Humanoid Locomotion — Locomotion, Humanoid, Benchmark

2023-03

🌟 Real-World Humanoid Locomotion with Reinforcement Learning, website — Reinforcement Learning, Locomotion, Humanoid, Open Source

2023-02

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning — Reinforcement Learning, Biped, Locomotion

2026-09

Learning Safe Humanoid Navigation from Reduced Order Models — Locomotion, Navigation, Safety, Humanoid

2026-07

RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC — Reinforcement Learning, MPC, Locomotion, Navigation, Safety, Robustness

2026-06

LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception — Locomotion, Navigation, Safety, MuJoCo, Humanoid, Proprioception

2026-05

Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments — Locomotion, Manipulation, Navigation, Safety, Humanoid, Gait
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy — Reinforcement Learning, MPC, Locomotion, Navigation, Humanoid

2026-04

Learning Humanoid Navigation from Human Data, website — Navigation, Zero-Shot, Humanoid, Walking, Diffusion, Locomotion

2026-02

EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models — Humanoid, Task Planning, Navigation

2026-01

FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation — Navigation, Humanoid

2025-12

🌟 STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain, website — Navigation, Biped, Open Source

2025-11

Thinking in 360: Humanoid Visual Search in the Wild — Humanoid, Navigation
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains — Locomotion, Navigation, Humanoid

2025-09

Quantum deep reinforcement learning for humanoid robot navigation task — Reinforcement Learning, Navigation, Humanoid

2025-08

Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications — Navigation
LookOut: Real-World Humanoid Egocentric Navigation — Navigation, Humanoid
INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM — Humanoid, Navigation
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching — Locomotion, Navigation, Humanoid

2025-07

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots — Humanoid, Navigation

2025-06

RL with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation — Navigation, Humanoid

2025-05

NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance — Diffusion Policy, Sim-to-Real, Navigation, Diffusion

2025-03

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots — Humanoid, Navigation

2024-12

🌟 NaVILA: Legged Robot Vision-Language-Action Model for Navigation, website — Navigation, Vision-Language, Open Source
ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning — Humanoid, Collision, Motion Planning, Navigation

2023-10

NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration — Navigation, Diffusion

State Estimation

2026-09

Bundled Contact Gradients: Stabilizing Differentiable Simulation for Deployable Dynamic Tasks — Zero-Shot, Humanoid, Contact Dynamics, Policy Learning, State Estimation, Simulation Benchmark
BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video — Motion Retargeting, Locomotion, Robustness, Humanoid, State Estimation, Simulation Benchmark
Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training — Simulator, Humanoid, Inverse Kinematics, State Estimation, Physics-Based Character Animation, Human Motion Analysis and Synthesis
UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains — Locomotion, Zero-Shot, Domain Randomization, Humanoid, Proprioception, Fine-tuning
🌟 PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots, website — Sim-to-Real, Locomotion, Humanoid, PPO, State Estimation, Open Source
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots — Humanoid, PPO, State Estimation
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry — Locomotion, Simulator, Humanoid, Walking, PPO, State Estimation

2026-08

Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid — State Estimation, Humanoid, Proprioception, PPO, Real Robot
KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots — State Estimation, Robustness, Humanoid, Gait, Dataset, Physics-Based Character Animation

2026-07

Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning — Reinforcement Learning, Manipulation, State Estimation, Humanoid, PPO, Representation Learning

2026-06

Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground — State Estimation, Humanoid, Walking, Locomotion
$λ$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety — Safety, Humanoid, Collision, State Estimation

2026-05

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots — Locomotion, State Estimation, Real Robot, Humanoid, Proprioception, Foundation Model

2025-11

AutoOdom: Learning Auto-regressive Proprioceptive Odometry for Legged Locomotion — Locomotion, State Estimation
InEKFormer: A Hybrid State Estimator for Humanoid Robots — Humanoid, State Estimation

2025-07

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation — State Estimation

2022-07

An Empirical Evaluation of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems — State Estimation

2019-04

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation — State Estimation

2017-05

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors — State Estimation

2014-10

The invariant extended Kalman filter as a stable observer — State Estimation

Sim-to-Real

2026-07

Optimization of sim-to-real transfer in the humanoid robot NICO — Sim-to-Real, Humanoid, Inverse Kinematics, Physics-Based Character Animation

2026-06

FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control — Few-Shot, Zero-Shot, Domain Randomization, Humanoid, Domain Adaptation, Residual Learning

2026-02

RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Robots — Sim-to-Real, Humanoid

2026-01

🌟 Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control, website — Humanoid, Sim-to-Real, Open Source

2025-10

PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization — Sim-to-Real, Simulator, Humanoid

2025-09

Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion — Sim-to-Real, Locomotion, Humanoid, Representation Learning
Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots — Sim-to-Real

2025-08

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids — Humanoid, Sim-to-Real

2025-05

DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control — Sim-to-Real
Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning — System Identification, Sampling-Based, Sim-to-Real

2025-04

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection — Sim-to-Real, Locomotion, Humanoid

2025-02

Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation — Sim-to-Real, Manipulation

2019-01

Learning Agile and Dynamic Motor Skills for Legged Robots — Sim-to-Real

Hardware Design

2026-08

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles — Humanoid, Optimization-Based, Hardware Design

2026-02

Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids — Humanoid, Hardware Design

2026-01

Fauna Sprout: A lightweight, approachable, developer-ready humanoid robot — Humanoid, Hardware Design

2025-12

Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand: Toward Dexterous Manipulation for Payload Constrained Humanoids — Manipulation, Humanoid, Hardware Design
Olaf: Bringing an Animated Character to Life in the Physical World — Hardware Design
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer — Hardware Design
DIJIT: A Robotic Head for an Active Observer — Hardware Design

2025-11

DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion — Locomotion, Humanoid, Hardware Design
Human-Level Actuation for Humanoids — Humanoid, Hardware Design

2025-10

Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery — Humanoid, Hardware Design
Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot — Humanoid, Hardware Design

2025-09

Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance — Humanoid, Evolutionary, Hardware Design
A Framework for Optimal Ankle Design of Humanoid Robots — Humanoid, Hardware Design
CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids — Humanoid, Hardware Design
AGILOped: Agile Open-Source Humanoid Robot for Research — Humanoid, Hardware Design

2025-07

A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0 — Humanoid, Hardware Design
Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting — Teleoperation, Motion Retargeting, Hardware Design

2025-06

PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids — Humanoid, Hardware Design
Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint — Humanoid, Hardware Design
RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy — Manipulation, Hardware Design
iRonCub 3: The Jet-Powered Flying Humanoid Robot — Humanoid, Hardware Design

2025-04

🌟 Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot, website — Humanoid, Hardware Design, Open Source
🌟 RUKA: Rethinking the Design of Humanoid Hands with Learning, website — Humanoid, Hardware Design, Open Source
🌟 ORCA: Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning, website — Hardware Design, Open Source

2025-03

Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models — Humanoid, Hardware Design

2025-02

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids — Humanoid, Hardware Design
🌟 ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation, website — Manipulation, Humanoid, Hardware Design, Open Source

2025-01

Design and Control of a Bipedal Robotic Character — Biped, Hardware Design

2024-09

🌟 The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics, website — Locomotion, Biped, Humanoid, Hardware Design, Open Source

2024-07

🌟 Berkeley Humanoid: A Research Platform for Learning-based Control, website — Humanoid, Hardware Design, Open Source

2021-04

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors — Humanoid, Motion Planning, Hardware Design

2019-04

🌟 Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation, website — Manipulation, Hardware Design, Open Source

Simulation Benchmark

2026-09

How Long Until Your Robot Ignores You? A Safety Benchmark for LLM Orchestrators in Human-Humanoid Collaboration — Safety, Humanoid, Benchmark, Large Language Model, Simulation Benchmark
Establishing a Dynamic Multimodal HRI Dataset for Engagement Analysis with a Humanoid Robot — Humanoid, Dataset, Simulation Benchmark

2026-08

GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly — MPC, Manipulation, Navigation, MuJoCo, Humanoid, Walking
Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface — Reinforcement Learning, Human Demonstration, MuJoCo, Humanoid, Position Control, PPO
HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction — Humanoid, Benchmark, Simulation Benchmark, Real Robot
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance — Simulator, Humanoid, Distillation, Benchmark, PPO, SAC

2026-07

Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors — Reinforcement Learning, Humanoid, Gait, Dataset, Simulation Benchmark
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations — Whole-Body Control, Human Demonstration, Robustness, Humanoid, Benchmark, Dataset

2026-06

TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes — Zero-Shot, Robustness, Humanoid, Simulation Benchmark
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning — Humanoid, Proprioception, Benchmark, Policy Learning, Simulation Benchmark, Loco-Manipulation and Whole-Body Control
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation — Teleoperation, Manipulation, Zero-Shot, MuJoCo, Humanoid, Vision-Language
Flash-WAM: Modality-Aware Distillation for World Action Models — Manipulation, Humanoid, Distillation, Benchmark, Diffusion, Simulation Benchmark

2026-05

🌟 Adversarial Stress Testing of SPARK Humanoid Safety Filters, website — Safety, Robustness, MuJoCo, Humanoid, Collision, Benchmark
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation — Humanoid, Benchmark, Dataset, Simulation Benchmark

2026-03

Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality — Locomotion, Navigation, Safety, Humanoid, Collision, Benchmark
🌟 ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control, website — Simulation Benchmark, Open Source
Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots — Humanoid, Simulation Benchmark

2026-02

MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation — Manipulation, Navigation, Simulation Benchmark

2025-12

Benchmarking Humanoid Imitation Learning with Motion Difficulty — Imitation Learning, Humanoid, Benchmark, Simulation Benchmark

2025-10

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation — Manipulation, Humanoid, Dataset, Simulation Benchmark
Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report — World Model, Humanoid, Simulation Benchmark

2025-07

🌟 HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning, website — Manipulation, Humanoid, Simulation Benchmark, Open Source

2025-06

DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning — Humanoid, Simulation Benchmark
Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics — Humanoid, Simulation Benchmark
Humanoid World Models: Open World Foundation Models for Humanoid Robotics — World Model, Humanoid, Foundation Model, Simulation Benchmark

2024-12

🌟 Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking, website — Humanoid, Benchmark, Simulation Benchmark, Open Source
🌟 ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks, website — Manipulation, Benchmark, Simulation Benchmark, Open Source

2024-10

🌟 DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning, website — Imitation Learning, Manipulation, Simulation Benchmark, Open Source
🌟 ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI, website — Embodied AI, Simulation Benchmark, Open Source

2024-07

🌟 BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark, website — Manipulation, Benchmark, Simulation Benchmark, Open Source
🌟 GRUtopia: Dream General Robots in a City at Scale, website — Simulation Benchmark, Open Source

2024-06

🌟 RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots, website — Simulation Benchmark, Open Source

2024-04

🌟 Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, website — Reinforcement Learning, Zero-Shot, Humanoid, Simulation Benchmark, Open Source

2024-03

🌟 HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, website — Locomotion, Manipulation, Humanoid, Benchmark, Simulation Benchmark, Open Source

Physics-Based Character Animation

2026-09

Unifying Physics-Based Humanoid Interaction with a Context-Conditioned Interaction Prior — Locomotion, Manipulation, Humanoid, PPO, Physics-Based Character Animation

2026-08

PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots — Humanoid, Physics-Based Character Animation
Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards — Reinforcement Learning, Robustness, Humanoid, Inverse Kinematics, Optimal Control, PPO
GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking — Zero-Shot, Humanoid, Benchmark, Physics-Based Character Animation

2026-06

TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation — Humanoid, Language-Conditioned, Contact Dynamics, Dataset, Physics-Based Character Animation, Simulation Benchmark
PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation — Humanoid, Dataset, Physics-Based Character Animation
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models — Reinforcement Learning, Manipulation, Simulator, Humanoid, Actor-Critic, SAC
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm — Humanoid, Friction, Motion Planning, Dataset, Physics-Based Character Animation
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control — Whole-Body Control, Humanoid, Foundation Model, Diffusion, Multi-Modal, Physics-Based Character Animation
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control — Human Demonstration, Humanoid, Vision-Language, PPO, Physics-Based Character Animation

2026-05

MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control — Humanoid, Diffusion, Physics-Based Character Animation
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control — Reinforcement Learning, Diffusion Policy, Transformer, Humanoid, Pre-training, Dataset

2026-02

Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control — Humanoid, Physics-Based Character Animation
InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions — Physics-Based Character Animation

2025-12

CRISP: Contact-Guided Real2Sim from Monocular Video with Planar Scene Primitives — Physics-Based Character Animation
Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions — Physics-Based Character Animation

2025-10

PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction — Humanoid, Physics-Based Character Animation

2025-09

Learning to Ball: Composing Policies for Long-Horizon Basketball Moves — Physics-Based Character Animation
RobotDancing: Residual-Action RL Enables Robust Long-Horizon Humanoid Motion Tracking — Humanoid, Physics-Based Character Animation

2025-08

FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control — Humanoid, Physics-Based Character Animation
SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and RL — Humanoid, Physics-Based Character Animation
Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics — Humanoid, Physics-Based Character Animation

2025-07

Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why — GAN, Physics-Based Character Animation

2025-06

RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control — Humanoid, Physics-Based Character Animation

2025-05

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning — Reinforcement Learning, Physics-Based Character Animation
MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation — Whole-Body Control, Manipulation, Physics-Based Character Animation
🌟 Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning, website — Reinforcement Learning, Humanoid, Physics-Based Character Animation, Open Source
ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators — Physics-Based Character Animation

2025-04

Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models — Zero-Shot, Humanoid, Foundation Model, Physics-Based Character Animation

2025-03

🌟 CVPR 2025 Oral, TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization, website — Physics-Based Character Animation, Open Source

2025-02

🌟 InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions, website — Whole-Body Control, Physics-Based Character Animation, Open Source

2024-10

🌟 CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control, website — Multi-Task, Diffusion, Physics-Based Character Animation, Open Source

2024-09

🌟 MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting, website — Physics-Based Character Animation, Open Source

2024-08

SkillMimic: Learning Basketball Interaction Skills from Demonstrations — Physics-Based Character Animation

2023-09

🌟 Unified Human-Scene Interaction via Prompted Chain-of-Contacts, website — Physics-Based Character Animation, Open Source

2023-06

Hierarchical Planning and Control for Box Loco-Manipulation — Manipulation, Physics-Based Character Animation

2023-05

🌟 Perpetual Humanoid Control for Real-time Simulated Avatars, website — Humanoid, Physics-Based Character Animation, Open Source

2022-08

🌟 ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters, website — Physics-Based Character Animation, Open Source

2021-08

🌟 AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control, website — Physics-Based Character Animation, Open Source

2018-11

Hierarchical visuomotor control of humanoids — Humanoid, Physics-Based Character Animation

2018-09

Multi-task Deep Reinforcement Learning with PopArt — Reinforcement Learning, Multi-Task, Physics-Based Character Animation

2018-08

🌟 DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills, website — Reinforcement Learning, Physics-Based Character Animation, Open Source

2018-01

Learning Symmetric and Low-energy Locomotion — Locomotion, Physics-Based Character Animation

Human Motion Analysis and Synthesis

2026-09

EmoPose: Vision-Language Model Guided Emotion-Aware Gesture Generation for Humanoid Robots — Navigation, MuJoCo, Humanoid, Vision-Language, Foundation Model, PPO
PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments — Humanoid, Human Motion Analysis and Synthesis

2026-08

RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction — MPC, Sim-to-Real, Transformer, Safety, Humanoid, Collision

2026-07

Imitation of Arm Gestures by the Semi-Humanoid Robot NICO — Humanoid, Human Motion Analysis and Synthesis

2026-06

PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation — Reinforcement Learning, Humanoid, Contact Dynamics, Dataset, PPO, Human Motion Analysis and Synthesis
🌟 WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots, website — Humanoid, Motion Planning, Large Language Model, Human Motion Analysis and Synthesis, Open Source

2026-05

Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors — Zero-Shot, Humanoid, Gait, Foundation Model, Human Motion Analysis and Synthesis

2026-02

EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agents — Human Motion Analysis and Synthesis
🌟 WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos, website — Human Motion Analysis and Synthesis, Open Source

2025-12

Diffusion Forcing for Multi-Agent Interaction Sequence Modeling — Diffusion, Human Motion Analysis and Synthesis
Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction — Human Motion Analysis and Synthesis

2025-08

🌟 Being-M0.5: A Real-Time Controllable Vision-Language-Motion Model, website — Vision-Language, Human Motion Analysis and Synthesis, Open Source

2025-05

🌟 GENMO: A GENeralist Model for Human MOtion, website — Human Motion Analysis and Synthesis, Open Source

2025-04

🌟 HUMOTO: A 4D Dataset of Mocap Human Object Interactions, website — Dataset, Human Motion Analysis and Synthesis, Open Source
PICO: Reconstructing 3D People In Contact with Objects — Human Motion Analysis and Synthesis

2025-03

🌟 FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Video, website — Human Motion Analysis and Synthesis, Open Source
PRIMAL Physically Reactive and Interactive Motor Model for Avatar Learning — Human Motion Analysis and Synthesis
ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinate — Dataset, Multi-Modal, Human Motion Analysis and Synthesis

2024-10

Scaling Large Motion Models with Million-Level Human Motions — Human Motion Analysis and Synthesis

2024-05

Flexible Motion In-betweening with Diffusion Models — Diffusion, Human Motion Analysis and Synthesis

2024-04

Taming Diffusion Probabilistic Models for Character Control — Diffusion, Human Motion Analysis and Synthesis

2023-10

OmniControl: Control Any Joint at Any Time for Human Motion Generation — Human Motion Analysis and Synthesis

2023-07

TEDi: Temporally-Entangled Diffusion for Long-Term Motion Synthesis — Diffusion, Human Motion Analysis and Synthesis

2023-06

Example-based Motion Synthesis via Generative Motion Matching — Human Motion Analysis and Synthesis

2023-05

Guided Motion Diffusion for Controllable Human Motion Synthesis — Diffusion, Human Motion Analysis and Synthesis

2022-12

🌟 PhysDiff: Physics-Guided Human Motion Diffusion Model, website — Diffusion, Human Motion Analysis and Synthesis, Open Source

Usage

# Install dependencies
pip install -r requirements.txt
npm install

# Update recent papers with daily arXiv windows
python scripts/update_daily.py --days 7

# Preview the website
npm run docs:dev

License

MIT

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769

hk-zh/language-conditioned-robot-manipulation-models

https://arxiv.org/abs/2312.10807

Languages

Python

100.0%

vergilshawn/Awesome-Humanoid-Robot-Learning

README

Awesome-Humanoid-Robot-Learning

Contents

Loco-Manipulation and Whole-Body Control

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Manipulation

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Teleoperation

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Locomotion

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