Awesome-Humanoid-Robot-Learning

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

Total Papers: 822
Real Robot Papers: 170
Open Source Papers: 139

🌟 indicates papers with detected project/code links.

Loco-Manipulation and Whole-Body Control

2026-08

DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation — Whole-Body Control, Locomotion, Manipulation, Robustness, Dataset, PPO
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
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
Matched Outcomes, Divergent Gaze: How Foveated MLLMs Search Compared to Humans — Zero-Shot, Large Language Model, SAC, Loco-Manipulation and Whole-Body Control
DeepInsight II: One Trace from Benchmark to Robot — Whole-Body Control, Sim-to-Real, Manipulation, Navigation, Simulator, Foundation Model
Understanding Cognition-Induced Risks in Agentic AI Systems — Large Language Model, Loco-Manipulation and Whole-Body Control
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, State Estimation
PsychoAgent: An Affect-Sensitive Cognitive Architecture for Conflict-Aware Memory in LLM Agents — PPO, 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
MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight — Whole-Body Control, Locomotion, Manipulation, Transformer, Diffusion, Loco-Manipulation and Whole-Body Control
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, Navigation, Hardware Design, 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, State Estimation
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance — Simulator, Humanoid, Distillation, Benchmark, PPO, SAC
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, Locomotion
Cognitive Convergence: Deep Similarities Between Large Language Models and Human Cognition — Large Language Model, PPO, GAN, Loco-Manipulation and Whole-Body Control, Real Robot
Understanding Human-like Solutions in Combinatorial Optimization via Learning and Search — Reinforcement Learning, Fine-tuning, Loco-Manipulation and Whole-Body Control
Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control — Humanoid, Loco-Manipulation and Whole-Body Control
What Matters in Humanoid General Motion Tracking? An Empirical Study — Zero-Shot, Humanoid, Loco-Manipulation and Whole-Body Control, Human Motion Analysis and Synthesis, Real Robot
Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Locomotion, Zero-Shot, Isaac Sim
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
FARO: Feasibility-Aware Robot Motion Optimization — Reinforcement Learning, Manipulation, Humanoid, Underactuated, Large Language Model, Loco-Manipulation and Whole-Body Control
Scaling Behavior Foundation Model for Humanoid Robots — Transformer, Humanoid, Foundation Model, Loco-Manipulation and Whole-Body Control, State Estimation, Simulation Benchmark
Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control — Reinforcement Learning, Sim-to-Real, Humanoid, Multi-Modal, Loco-Manipulation and Whole-Body Control, Navigation
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation — Reinforcement Learning, Whole-Body Control, Sim-to-Real, Manipulation, Zero-Shot, Human Demonstration
Requirement-Driven Design of Whole-Body Social Tactile Sensing via Virtual Human-Robot Interaction — Humanoid, Tactile Sensing, Dataset, Loco-Manipulation and Whole-Body Control, Teleoperation, State Estimation
Motion4Motion: Motion Transfer Across Subjects at Inference — Loco-Manipulation and Whole-Body Control, Real Robot
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation — Reinforcement Learning, Whole-Body Control, Manipulation, Zero-Shot, Tactile Sensing, Proprioception
Hallucination Detection in Large Language Models Using Diversion Decoding — Large Language Model, 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
🌟 SOV-CAD: Stepwise Orthographic Views Guided CAD Modeling Sequence Reconstruction, website — Reinforcement Learning, Transformer, PPO, Loco-Manipulation and Whole-Body Control, Open Source
Investigating Driver Behavior in Complex Traffic Situations While Driving Partially Automated Vehicles — Safety, 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
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability — Reinforcement Learning, Whole-Body Control, Locomotion, Manipulation, Robustness, Loco-Manipulation and Whole-Body Control
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, Physics-Based Character Animation, Human Motion Analysis and Synthesis
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, Simulation Benchmark
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
DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects — Reinforcement Learning, Whole-Body Control, Manipulation, Isaac Gym, Trajectory Prediction, Diffusion
RGB: RL Guided Whole-Body MPPI for Humanoid Control — Reinforcement Learning, Whole-Body Control, MuJoCo, Humanoid, Walking, Loco-Manipulation and Whole-Body Control
HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory — Manipulation, Navigation, Safety, Humanoid, GAN, Loco-Manipulation and Whole-Body Control
LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception — Locomotion, Navigation, Safety, MuJoCo, Humanoid, Proprioception
OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation — Teleoperation, Manipulation, Humanoid, Vision-Language, GAN, Loco-Manipulation and Whole-Body Control
Improving Reasoning in Vision-Language Models via Perception Verified Self-Training — Vision-Language, Curriculum Learning, Loco-Manipulation and Whole-Body Control
Evaluation of Image Matching for Art Skills Assessment — Computer Vision, Loco-Manipulation and Whole-Body Control
DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stack — Whole-Body Control, Humanoid, Benchmark, Loco-Manipulation and Whole-Body Control, Simulation Benchmark
MotionPyramid: Hierarchical Motion Representation and Residual Interfaces — Reinforcement Learning, Humanoid, Gait, PPO, SAC, GAN
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
What Robots Do Matters More Than What They Look Like: Task Context Shapes Trust in Educational HRI — Large Language Model, PPO, Loco-Manipulation and Whole-Body Control
An Empirical Study on Learning Latent Representations for Emotional Speech Synthesis — Deep Learning, Loco-Manipulation and Whole-Body Control
Fodor and Pylyshyn's Systematicity Challenge Still Stands — Loco-Manipulation and Whole-Body Control
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning — Reinforcement Learning, Locomotion, Humanoid, Loco-Manipulation and Whole-Body Control, State Estimation, Simulation Benchmark
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control — Whole-Body Control, Humanoid, Foundation Model, Diffusion, Multi-Modal, Loco-Manipulation and Whole-Body Control
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands — Humanoid, Proprioception, Distillation, Loco-Manipulation and Whole-Body Control, State Estimation, Physics-Based Character Animation
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
Emotion Profiling in LLM-Based Literary Translation: Systematic Shifts Across MT and Post-Editing — Loco-Manipulation and Whole-Body Control
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control — Human Demonstration, Humanoid, Vision-Language, PPO, Loco-Manipulation and Whole-Body Control, Physics-Based Character Animation
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain — Whole-Body Control, Locomotion, Transformer, Humanoid, Inverse Kinematics, Foundation Model
Aligned but Not Partner-Specific: Distinguishing How Multimodal LLM Agents Succeed in Reference Games Without Human-Like Conventions — 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
🌟 Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation, website — Reinforcement Learning, MPC, Locomotion, Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control
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, Locomotion
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
HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads — Reinforcement Learning, Imitation Learning, Whole-Body Control, Teleoperation, Humanoid, Vision-Language
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation — Whole-Body Control, Manipulation, Robustness, Proprioception, Distillation, Loco-Manipulation and Whole-Body Control
EIT-Pneumatic Hybrid Robotic Skin for Practical and Accurate Force Map Reconstruction — Real Robot, Humanoid, Tactile Sensing, Loco-Manipulation and Whole-Body Control, State Estimation
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking — Whole-Body Control, Humanoid, Fine-tuning, Loco-Manipulation and Whole-Body Control, Physics-Based Character Animation, Real Robot
HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds — Diffusion Policy, Whole-Body Control, Locomotion, Manipulation, Collision, Diffusion
Voice ''Cloning'' is Style Transfer — Impact, Loco-Manipulation and Whole-Body Control
HoloMotion-1 Technical Report — Transformer, Zero-Shot, Humanoid, Foundation Model, Fine-tuning, Benchmark
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
HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation — Manipulation, Biped, Humanoid, Loco-Manipulation and Whole-Body Control, Locomotion
🌟 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

🌟 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, Human Motion Analysis and Synthesis
X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation — Locomotion, Humanoid, Distillation, Loco-Manipulation and Whole-Body Control
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, websie](https://arxiv.org/abs/2506.04147) — Reinforcement Learning, Loco-Manipulation and Whole-Body Control, Open Source
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, websie](https://arxiv.org/abs/2503.05652) — Manipulation, Loco-Manipulation and Whole-Body Control, Open Source
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, / github](https://arxiv.org/abs/2502.13013), 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, video](https://arxiv.org/abs/2411.03532) — 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](https://arxiv.org/abs/2409.20514) — 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, video /](https://arxiv.org/abs/2407.12381), website — Imitation Learning, Manipulation, PPO, Flow Matching, Loco-Manipulation and Whole-Body Control, Open Source

2024-06

🌟 [HumanPlus: Humanoid Shadowing and Imitation from Humans, / code](https://arxiv.org/abs/2406.10454), website — Humanoid, Loco-Manipulation and Whole-Body Control, Open Source
🌟 [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, / code](https://arxiv.org/abs/2406.08858), 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, / code](https://arxiv.org/abs/2403.04436), website — Teleoperation, Humanoid, Loco-Manipulation and Whole-Body Control, Open Source

2024-02

🌟 [Expressive Whole-Body Control for Humanoid Robots, / code](https://arxiv.org/abs/2402.16796), 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

2026-08

Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control — MPC, Locomotion, Manipulation, Humanoid, Sampling-Based, Loco-Manipulation and Whole-Body Control
Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence — Manipulation, Robustness, Humanoid, Vision-Language, Dataset, Simulation Benchmark
A Haptic Robot Finger Designed for Guqin Instrument Playing — Humanoid, Tactile Sensing, Manipulation, Teleoperation
Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators — Manipulation, Humanoid, State Estimation, Simulation Benchmark, Physics-Based Character Animation, Real Robot
Teleopit: A Full-Embodiment Humanoid Teleoperation System — Teleoperation, Locomotion, Manipulation, Humanoid, Optimization-Based, Loco-Manipulation and Whole-Body Control
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies — Manipulation, Humanoid, Vision-Language

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
SymmGrid: Super-Scaling On-Robot Learning with Parallelized Symmetries and Egocentric-Exocentric Visual Perception — Manipulation, Real Robot, Humanoid, Proprioception, Policy Learning, State Estimation
Good Rankers, Bad Objectives: Bilinear Contrastive Critics under Expressive Policy Search — Manipulation, Navigation, Simulator, Humanoid, PPO, State Estimation
Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design — Manipulation, Transformer, Zero-Shot, Human Demonstration, Humanoid, Evolutionary
When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning — Manipulation, Humanoid, State Estimation, Hardware Design
Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents — Manipulation, World Model, Simulator, Humanoid, Vision-Language, Foundation Model
Handroid: Bridging Dexterous Hand and Humanoid — Teleoperation, Locomotion, Manipulation, Humanoid, Gait, PPO
Towards Artificial Nerves: Biomimetic Optical-Fiber Tactile Sensing for Robots — Manipulation, Tactile Sensing, Evolutionary, Real Robot
VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation — Teleoperation, Manipulation, PPO, Multi-Modal, Navigation, Hardware Design
Towards Human-like Physical Intelligence: Lifelong Vision-Language-Action Learning for Robotic Manipulation — Manipulation, Vision-Language
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand — Teleoperation, Manipulation, Tactile Sensing, State Estimation, Simulation Benchmark
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation — Manipulation, Human Demonstration, Benchmark, Dataset, GAN, Simulation Benchmark
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning — Humanoid, Dataset, Policy Learning, Manipulation, Simulation Benchmark
ContactMimic: Humanoid Object Interaction via Contact Control — Manipulation, Humanoid, State Estimation, Sim-to-Real, Simulation Benchmark
Immersive Social Interaction with VR and LLM-Assisted Humanoids — Imitation Learning, Teleoperation, Locomotion, Manipulation, Humanoid, Inverse Kinematics
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation — Manipulation, Humanoid, Loco-Manipulation and Whole-Body Control, State Estimation, Simulation Benchmark, Physics-Based Character Animation
Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation — Reinforcement Learning, Sim-to-Real, Manipulation, Zero-Shot, Fine-tuning, Actor-Critic
ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling — Reinforcement Learning, Motion Retargeting, Manipulation, Real Robot, Teleoperation

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, State Estimation
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory — Manipulation, Humanoid, Benchmark, PPO, GAN, Simulation Benchmark
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning — Manipulation, Human Demonstration, Humanoid, Motion Planning
Self Capacitive Tactile Sensor System designed for Companion Robots — Manipulation, Humanoid, Tactile Sensing
🌟 Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization, website — Reinforcement Learning, Manipulation, Physics-Based Character Animation, State Estimation, Simulation Benchmark, Open Source
VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation — Manipulation, Multi-Task, Humanoid, Benchmark, Flow Matching, Simulation Benchmark
Start Right, Arrive Right: Asynchronous Execution via Initial Noise Selection — Manipulation, Humanoid, Benchmark, State Estimation, Simulation Benchmark
Bidirectional Tutoring for Developmental Motor Learning in Robots: Co-Developed Interaction Dynamics Support Stable Learning — Manipulation, Real Robot, Humanoid, PPO
Do as I Do: Dexterous Manipulation Data from Everyday Human Videos — Manipulation, Dataset, Simulation Benchmark
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations — Manipulation, Navigation, Human Demonstration, Humanoid, PPO, Loco-Manipulation and Whole-Body Control
DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity — Teleoperation, Manipulation, PPO, State Estimation, Hardware Design
ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning — Reinforcement Learning, Manipulation, Humanoid, Vision-Language, Loco-Manipulation and Whole-Body Control, State Estimation
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos — Teleoperation, Manipulation, Human Demonstration, Embodied AI, Benchmark, Policy Learning
🌟 DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects, website — Manipulation, Robustness, Humanoid, Contact Dynamics, Policy Learning, PPO
ORCA: A Platform for Open-Source Dexterity Research — Teleoperation, Manipulation, State Estimation, Simulation Benchmark
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity — Manipulation, Hardware Design, Physics-Based Character Animation, Human Motion Analysis and Synthesis
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training — Zero-Shot, Humanoid, Manipulation, State Estimation, Simulation Benchmark
Modular Anthropomorphic Hand Design via Multi-Parameter Finger Benchmarking and Selection — Benchmark, Manipulation, Teleoperation, Simulation Benchmark, Real Robot
SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps — Manipulation, PPO, State Estimation, Simulation Benchmark, Real Robot
Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs — Humanoid, PPO, Manipulation
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data — Manipulation, Humanoid, Fine-tuning, Dataset, Simulation Benchmark

2026-05

Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity — Manipulation, Human Demonstration, Task Planning, PPO
ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation — Manipulation, State Estimation, Physics-Based Character Animation
Gaze2Act: Gaze-Conditioned Vision-Language-Action Policies for Interactive Robot Manipulation — Manipulation, Humanoid, Vision-Language, Navigation, Real Robot
🌟 Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language, website — Manipulation, Tactile Sensing, Language-Conditioned, Vision-Language, Benchmark, Simulation Benchmark
Do Vision-Language-Models show human-like logical problem-solving capability in point and click puzzle games? — Manipulation, Vision-Language, Benchmark, Simulation Benchmark

2026-04

🌟 Humanoid Manipulation with Touch Dreaming, website — Manipulation, Humanoid, Policy Learning, Loco-Manipulation and Whole-Body Control, 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, / code / model](https://arxiv.org/abs/2507.15597), 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, / code](https://arxiv.org/abs/2410.24221), 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, / code](https://arxiv.org/abs/2410.10803), website — Manipulation, Humanoid, Diffusion, Open Source

2024-08

🌟 [ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, / code](https://arxiv.org/abs/2408.11805), website — Teleoperation, Manipulation, Open Source

2024-07

🌟 [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, / code](https://arxiv.org/abs/2407.03162), website — Imitation Learning, Teleoperation, Manipulation, Open Source
🌟 [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, / code](https://arxiv.org/abs/2407.01512), website — Teleoperation, Manipulation, Open Source

2024-04

🌟 [Learning Visuotactile Skills with Two Multifingered Hands, / code](https://arxiv.org/abs/2404.16823), website — Manipulation, Open Source

2024-03

🌟 [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation, / code](https://arxiv.org/abs/2403.07788), website — Manipulation, Open Source

Teleoperation

2026-08

HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark — Teleoperation, Humanoid, Benchmark, PPO, GAN, Loco-Manipulation and Whole-Body Control
Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation — Teleoperation, Human Demonstration, Benchmark, Dataset, Simulation Benchmark, Real Robot

2026-07

Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination — Teleoperation, Humanoid, PPO, Physics-Based Character Animation, Real Robot
A Biomimetic Myoelectric Tentacle Prosthesis with Sensorless Object Detection and Vibrotactile Feedback — Robustness, Teleoperation, State Estimation
AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance — Imitation Learning, Teleoperation, Few-Shot, Self-Supervised, Manipulation, Navigation
In vivo feasibility study of humanoid robots in surgery — Teleoperation, Manipulation, Safety, Humanoid, Real Robot
Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report — Teleoperation, Locomotion, Navigation, Zero-Shot, Safety, Humanoid
HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum — Teleoperation, Locomotion, Humanoid

2026-06

X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies — Teleoperation, Locomotion, Manipulation, Humanoid, PPO, Physics-Based Character Animation
Duet: Dual-Robot Understanding via Efficient Teaching — Teleoperation, Manipulation, Transformer, Human Demonstration, Humanoid, Benchmark
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
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation — Teleoperation, Manipulation, Zero-Shot, Domain Randomization, Humanoid, Loco-Manipulation and Whole-Body Control
Cybernetic Android Avatar "Yui": System Integration, Field Deployment, and Evaluation — Teleoperation, PPO, Real Robot
MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation — Reinforcement Learning, Teleoperation, Motion Retargeting, Manipulation, Human Demonstration, Humanoid
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, Human Motion Analysis and Synthesis
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos — Teleoperation, Human Demonstration, Humanoid, Vision-Language, Benchmark, Simulation Benchmark

2026-05

Constrained Whole-Body Tracking for Humanoid Robots — Reinforcement Learning, Teleoperation, Safety, Humanoid, Collision, Loco-Manipulation and Whole-Body Control
RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning — Teleoperation, Multi-Task, Open Source, Humanoid, Vision-Language, Dataset

2026-04

Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions — Motion Retargeting, Safety, Humanoid, Collision, Teleoperation, State Estimation

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, / code](https://arxiv.org/abs/2309.01952), website — Imitation Learning, Teleoperation, Manipulation, Humanoid, Open Source

2023-01

[Teleoperation of Humanoid Robots: A Survey, webpage](https://arxiv.org/abs/2301.04317) — Teleoperation, Humanoid

2022-03

[iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, Science Robotics / github](https://arxiv.org/abs/2203.06972) — Humanoid, Teleoperation

Locomotion

2026-08

MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces — Reinforcement Learning, Locomotion, Simulator, Biped, State Estimation, Navigation
EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control — Humanoid, Vision-Language, Locomotion, Real Robot
Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation — Reinforcement Learning, Gait, PPO, Locomotion, Navigation, State Estimation
FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences — Reinforcement Learning, Sim-to-Real, Locomotion, Manipulation, Zero-Shot, Humanoid
Hip Energized Monopedal Hopping — Locomotion, Biped, Gait, State Estimation, Simulation Benchmark, Real Robot
Curriculum Generation under Structured Parametric Environments for Robust Navigation Policies — Reinforcement Learning, Navigation, Robustness, Biped, Friction, Gradient-Based
Observation-Grounded Self-Predictive Reinforcement Learning for Visual Continuous Control — Reinforcement Learning, Humanoid, Policy Learning, Representation Learning, 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, Real Robot
Perception-and-action system for humanoid robot task execution in construction — Multi-Task, Humanoid, Locomotion
Emotional Expression in Persuasion by Quadruped Virtual Agents: Toward Cross-Species Design Patterns — Humanoid, PPO, Locomotion, Real Robot
ORCESTRA: VLM-driven Visual Robot programming in Mixed Reality — Safety, Humanoid, Vision-Language, PPO, Locomotion, Real Robot

2026-07

Developing Combined Manipulation and Locomotion Skills with Interaction Representation and Skill Composition — Locomotion, Manipulation, Zero-Shot, Humanoid, Walking, Dataset
Advances, challenges, and opportunities for legged robots — Locomotion, Humanoid, PPO
Speech2Grasp: Data-Efficient Transfer of Text-Conditioned Grasp Detection to Speech in Humanoid Robots — Robustness, Humanoid, Vision-Language, Multi-Modal, Locomotion, Real Robot
Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates — Locomotion, Physics-Based Character Animation
🌟 P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning, website — Humanoid, Sampling-Based, PPO, VAE, Locomotion, Open Source
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation — Reinforcement Learning, Locomotion, Navigation, Humanoid, Gait, Distillation
PRISM: Polynomial Representations for Interaction-Structured Motor Control — Reinforcement Learning, Imitation Learning, Diffusion Policy, Locomotion, Manipulation, Humanoid
Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning — Reinforcement Learning, Teleoperation, Locomotion, Manipulation, Humanoid, Walking
Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing — Locomotion, Biped, Walking, Real Robot
RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC — Reinforcement Learning, MPC, Locomotion, Navigation, Safety, Robustness
PACE: Persona Adaptation through Conversational Elicitation in Human-Robot Interaction — Humanoid, Impact, Locomotion, Real Robot
The Nonsmooth Impact Direction (NSID) of Robotic Systems — Locomotion, Humanoid, Friction, Impact, Collision, PPO
Algorithmic Accuracy as a Motivational Driver in Robot-Mediated Learning: A Comparative Study of Cross-Correlation and CNN-Based Sound Detection in an Interactive Quiz Game — Humanoid, PPO, Locomotion, Real Robot
GaitSpan: Growing Humanoid Locomotion from Walking to Running — Locomotion, Zero-Shot, Humanoid, Gait, Walking, PPO
Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation — Locomotion, Manipulation, Biped, Walking, Real Robot
Effects of Robotic Touch on Older Users During Walking Guidance by a Humanoid Robot — Navigation, Safety, Humanoid, Walking, PPO, Locomotion
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains — Reinforcement Learning, Sim-to-Real, Locomotion, Humanoid, Gait, PPO
Initiation Safety: A Missing Dimension in Generalist-Robot Safety — Safety, Humanoid, Locomotion, Real Robot
Certifying Ghosts: How Cybersecurity AI Agents Break the EU Cyber Resilience Act — Humanoid, PPO, Locomotion
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion — Locomotion, Humanoid, Trajectory Optimization, Dataset, PPO, Simulation Benchmark
Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots — MPC, Whole-Body Control, Locomotion, Biped, Trajectory Optimization, Optimal Control
Coachable agents for interactive gameplay — Reinforcement Learning, Humanoid, Walking, Foundation Model, Data Augmentation, Locomotion

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
🌟 Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors, website — Locomotion, Humanoid, Gait, Dataset, Diffusion, Simulation Benchmark
Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies — Reinforcement Learning, Sim-to-Real, Locomotion, Human Demonstration, Real Robot, Humanoid
DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs — Locomotion, World Model, Biped, Distillation, Knowledge Transfer, Representation Learning
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Proprioception
Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI — Locomotion, Manipulation, Humanoid, Dataset, GAN, Simulation Benchmark
Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes — Biped, Walking, Impact, Locomotion, State Estimation, Hardware Design
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot — MPC, Locomotion, Manipulation, Biped, Optimization-Based, State Estimation
Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning — Reinforcement Learning, Locomotion, Robustness, Biped, Humanoid, PPO
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation — Reinforcement Learning, Locomotion, Manipulation, Humanoid, Walking, Fine-tuning
A Spiking Neural Architecture for Coordinating Arm and Locomotor Control — Locomotion, Isaac Sim, Biped, Humanoid, Walking, GAN
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, State Estimation
PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning — Locomotion, Humanoid, Walking, Proprioception, State Estimation, Simulation Benchmark
🌟 bbsolver: A Unified Error-Bounded Spatiotemporal Optimization Solver for Key Timing and Topology-Consistent Vector Paths, website — Humanoid, PPO, Locomotion, State Estimation, Human Motion Analysis and Synthesis, Real Robot
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, State Estimation
T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, VAE, Real Robot
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, Loco-Manipulation and Whole-Body Control
SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints — Sim-to-Real, Locomotion, Zero-Shot, Humanoid, Gait, Physics-Based Character Animation
DiscoForcing: A Unified Framework for Real-Time Audio-Driven Character Control with Diffusion Forcing — Humanoid, Diffusion, Locomotion
EchoAvatar: Real-time Generative Avatar Animation from Audio Streams — Reinforcement Learning, Humanoid, Large Language Model, Locomotion
MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots — Reinforcement Learning, Locomotion, Humanoid, Distillation, Policy Learning, VAE
Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments — Locomotion, Manipulation, Navigation, Safety, Humanoid, Gait
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors — Reinforcement Learning, Locomotion, Humanoid, Walking, Real Robot
Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy — Reinforcement Learning, MPC, Locomotion, Navigation, Humanoid, State Estimation
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion — Locomotion, Robustness, Humanoid, Gait, PPO, State Estimation

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

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, State Estimation

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, / code](https://arxiv.org/abs/2602.06445), 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, code](https://arxiv.org/abs/2411.01919) — Humanoid, Locomotion, Open Source

2024-10

🌟 [Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, / code](https://arxiv.org/abs/2410.11825), 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

Navigation

2026-08

PFM-HR: Pose Flow Matching for Humanoid Robots — Reinforcement Learning, Humanoid, Flow Matching, Navigation, Physics-Based Character Animation

2026-07

ZONDA: Zero-shot Object Navigation with Dynamic Avoidance in Multi-floor Environments — Navigation, Zero-Shot, Biped, Vision-Language, Benchmark, Simulation Benchmark
Offline RL with Hierarchical Action Chunking — Reinforcement Learning, Navigation, Offline RL, Humanoid, Goal-Conditioned, Dataset
Hierarchical Denoising For Multi-Step Visual Reasoning — Navigation, World Model, Foundation Model, Benchmark, Diffusion, GAN
DA-Nav: Direction-Aware City-Scale Vision-Language Navigation — Navigation, Humanoid, Vision-Language, Fine-tuning, Dataset, PPO
HRO: Hierarchical Room-to-Object Framework for Zero-Shot Object Goal Navigation with Large Language Models — Navigation, Zero-Shot, Dataset, Large Language Model, Simulation Benchmark
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments — Navigation, Safety, Path Planning, Collision, Diffusion, Human Motion Analysis and Synthesis
Communicative Efficiency of Single vs. Multi-Axis Robot Neck Motion — Humanoid, Navigation, State Estimation, Human Motion Analysis and Synthesis

2026-06

Dual-Flow Reinforcement Learning with State-Aware Exploration — Reinforcement Learning, Humanoid, Actor-Critic, PPO, Diffusion, Flow Matching
Task-Error Residual Learning for Real-Robot Five-Ball Juggling — Reinforcement Learning, Real Robot, Residual Learning, Navigation
Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids — Reinforcement Learning, Robustness, Humanoid, Actor-Critic, Navigation
AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation — Navigation, Safety, Humanoid, Collision, State Estimation, Real Robot
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations — Navigation, Zero-Shot, Human Demonstration, Humanoid, Fine-tuning, Benchmark
🌟 HLL: Can Agents Cross Humanity's Last Line of Verification?, website — Benchmark, PPO, Navigation, Simulation Benchmark, Real Robot, Open Source

2026-05

Mapping Embodied Affective Touch Strategies on a Humanoid Robot — Humanoid, Navigation, Real Robot

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 / code](https://arxiv.org/abs/2506.01046) — 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

2026-08

Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking — Sim-to-Real, Robustness, Real Robot, Humanoid, Motion Planning, State Estimation
Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion — Locomotion, Zero-Shot, Humanoid, Proprioception, Policy Learning, Actor-Critic
When Is a Steerable Concept Representation Real? Measurement Confounds in a Cross-Family Audit of Neuroscience Parallels in LLMs — Large Language Model, State Estimation
KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots — State Estimation, Robustness, Humanoid, Gait, Dataset, Locomotion

2026-07

A systematic evaluation of machine learning classifiers for event-by-event background rejection in LAFOV PET scanners — Robustness, State Estimation, Simulation Benchmark
A Case Study on the Acceptance of a Humanoid Robotic Head Employed in Three Public Spaces — Humanoid, State Estimation, Simulation Benchmark
Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data — Humanoid, State Estimation, Simulation Benchmark, Human Motion Analysis and Synthesis, Real Robot
Motion Primitive Discovery in a Humanoid Robot via Self-Organising Maps for Phase Recognition — Humanoid, PPO, GAN, State Estimation, Physics-Based Character Animation, Real Robot
World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation — Sim-to-Real, Simulator, Humanoid, State Estimation, Simulation Benchmark, Real Robot
Denoising Models Develop Human-Like Perceptual Illusion Representations Across Architectures — State Estimation
Back to the museum: Investigation of the acceptance of Android Andrea with and without emotion simulation in a museum — State Estimation, Simulation Benchmark
Do Vision Encoders Exhibit Human-like Color Thresholds? — Transformer, Computer Vision, Foundation Model, Self-Supervised, State Estimation
Safe Execution of RL Policies Via Acceleration-Based CBF-QP Constraint Enforcement for Real-World Robotic Deployments — Reinforcement Learning, Safety, Humanoid, Collision, State Estimation, Simulation Benchmark
Physics-Informed Diffusion for Biomechanically Plausible 3D Sign Language Generation — Transformer, Benchmark, Diffusion, State Estimation, Simulation Benchmark, Physics-Based Character Animation
Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning — Reinforcement Learning, Manipulation, State Estimation, Humanoid, PPO, Representation Learning
A Bayesian framework for the uncanny valley in humanoid robot design — Humanoid, State Estimation, Simulation Benchmark

2026-06

Mechanistic Personality Analysis of LLMs Steering Personality via Latent Feature Interventions — Fine-tuning, Benchmark, Large Language Model, State Estimation, Simulation Benchmark
When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration — Humanoid, PPO, State Estimation
PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation — Reinforcement Learning, Humanoid, Contact Dynamics, Dataset, PPO, State Estimation
PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands — State Estimation, Safety, Proprioception, PPO, Manipulation, Navigation
🌟 TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU, website — Reinforcement Learning, Imitation Learning, MPC, Humanoid, PPO, State Estimation
Toward Machine Risk Perception: Integrating Trust Calibration and Precursor-Based Risk Estimation for Humanoid — Safety, Humanoid, Dataset, State Estimation, Simulation Benchmark
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground — State Estimation, Humanoid, Walking, Locomotion, Physics-Based Character Animation, Real Robot
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning — Humanoid, Proprioception, Benchmark, Policy Learning, State Estimation, Simulation Benchmark
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion — Locomotion, Domain Randomization, Robustness, Humanoid, Proprioception, State Estimation
$λ$-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety — Safety, Humanoid, Collision, State Estimation, Navigation
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm — Humanoid, Friction, Motion Planning, Dataset, State Estimation, Hardware Design
Human-like autonomy emerges from self-play and a pinch of human data — Reinforcement Learning, Imitation Learning, Domain Randomization, Human Demonstration, State Estimation, Sim-to-Real
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion — Reinforcement Learning, Locomotion, Humanoid, Proprioception, State Estimation, Simulation Benchmark
Anchored, Not Graded: Vision-Language Models Fail at Slant-from-Texture Perception — Zero-Shot, Vision-Language, Fine-tuning, Benchmark, State Estimation, Simulation Benchmark
A Model of Multi-turn Human Persuadability Using Probabilistic Belief Tracing — Simulator, Large Language Model, State Estimation
SimuScene: Simulation-Ready Compositional 3D Scene Reconstruction from a Single Image — Manipulation, Humanoid, 3D Reconstruction, Benchmark, PPO, State Estimation
AVI-Bench: Toward Human-like Audio-Visual Intelligence of Omni-MLLMs — Robustness, Benchmark, Large Language Model, State Estimation, Simulation Benchmark, Real Robot

2026-05

Representation Without Control: Testing the Realization Effect in Language Models — Simulator, Large Language Model, State Estimation
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos — Imitation Learning, Simulator, Humanoid, Sampling-Based, State Estimation, Physics-Based Character Animation
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots — Locomotion, State Estimation, Real Robot, Humanoid, Proprioception, Foundation Model
CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios — State Estimation, Biped, Locomotion, Simulation Benchmark
PhyMotion: Structured 3D Motion Reward for Physics-Grounded Human Video Generation — Reinforcement Learning, Simulator, MuJoCo, Humanoid, State Estimation, Simulation Benchmark

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

Real2Sim2Real for Vision-Language-Action Manipulation: An AMD ROCm-Based Pipeline — Reinforcement Learning, Sim-to-Real, Locomotion, Manipulation, Humanoid, Gaussian Splatting
🌟 ReferTrack: Referring Then Tracking for Embodied Visual Tracking, website — Sim-to-Real, Humanoid, Vision-Language, Dataset, Simulation Benchmark, Open Source

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, / code](https://arxiv.org/abs/2601.21363), 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

2026-02

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, / github](https://arxiv.org/abs/2502.00893), 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, / code](https://arxiv.org/abs/2409.19795), website — Locomotion, Biped, Humanoid, Hardware Design, Open Source

2024-07

🌟 [Berkeley Humanoid: A Research Platform for Learning-based Control, / code](https://arxiv.org/abs/2407.21781), 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

2026-08

HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction — Humanoid, Benchmark, Simulation Benchmark, State Estimation, Real Robot
HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction — Humanoid, Benchmark, Dataset, Policy Learning, GAN, Simulation Benchmark
Zero-Shot Skeleton-Based Action Anticipation — Zero-Shot, Humanoid, Benchmark, Dataset, Simulation Benchmark, State Estimation
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
Learning Context-Aware Motion Priors for Humanoid Control — Humanoid, Dataset, Policy Learning, Simulation Benchmark
From Failures to Supervision: DynamicEnvPlan for Robust Long-Horizon Embodied Planning — Safety, Humanoid, Fine-tuning, Benchmark, Simulation Benchmark

2026-07

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, Simulation Benchmark
On the Systematic Challenges of Culturally Loaded Machine Translation: Dream of the Red Chamber as the Cultural Lens — Dataset, Large Language Model, Simulation Benchmark, Real Robot
Learning Adaptive Safety Margins for Visual Navigation — Navigation, Safety, Humanoid, Collision, Dataset, Diffusion
Toward Anthropomorphic Dialogue: A Closed-Loop Framework for Human-Like Chat Generation, Evaluation, and Preference Alignment — Benchmark, Simulation Benchmark, Real Robot
Think, Plan, Paint: Layout-Aware Reasoning for Controllable Image Generation in Unified Models — Benchmark, Large Language Model, PPO, Simulation Benchmark, Real Robot
EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal — Reinforcement Learning, Locomotion, Humanoid, Benchmark, Dataset, Simulation Benchmark
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning — Reinforcement Learning, Locomotion, Biped, Benchmark, Policy Learning, Simulation Benchmark
WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LDL^\top$ Factorization — MPC, Humanoid, Benchmark, Dataset, Simulation Benchmark
RegHead: Non-Humanoid Head Blendshapes via Feed-Forward Registration — Humanoid, Dataset, PPO, Simulation Benchmark
Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors — Reinforcement Learning, Humanoid, Gait, Dataset, Simulation Benchmark, Loco-Manipulation and Whole-Body Control
ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation — Locomotion, Transformer, Humanoid, Benchmark, Dataset, PPO
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations — Whole-Body Control, Human Demonstration, Robustness, Humanoid, Benchmark, Dataset
Conversational Human Audio-visual Talking Dialogue Generation — Humanoid, Pre-training, Dataset, Large Language Model, Simulation Benchmark, Real Robot
Right in the Right Way: LM Training with Verifiable Rewards and Human Demonstrations — Human Demonstration, Benchmark, Simulation Benchmark
ESC: Emotional Self-Correction for Reliable Vision-Language Models — Safety, Vision-Language, Benchmark, Simulation Benchmark, Real Robot

2026-06

🌟 Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision, website — Manipulation, Transformer, Humanoid, Task Planning, Vision-Language, Benchmark
Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction — Humanoid, Dataset, Open Vocabulary, Simulation Benchmark
TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes — Zero-Shot, Robustness, Humanoid, Simulation Benchmark, State Estimation, Real Robot
WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning — Locomotion, Manipulation, Safety, Robustness, Humanoid, Vision-Language
BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models — Humanoid, Foundation Model, Dataset, PPO, GAN, Simulation Benchmark
TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation — Humanoid, Language-Conditioned, Contact Dynamics, Dataset, Simulation Benchmark, Physics-Based Character Animation
ReFPO: Reflow Regularization for Flow Matching Policy Gradients — Robustness, MuJoCo, Humanoid, Distillation, PPO, Flow Matching
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking — Reinforcement Learning, Humanoid, Dataset, Simulation Benchmark, State Estimation
Elastic ODYN: Differentiable Optimization for Infeasible Control and Learning in Robotics — Robustness, Humanoid, Trajectory Optimization, Optimal Control, Benchmark, PPO
Trust-Region Diffusion Policies for Massively Parallel On-Policy RL — Reinforcement Learning, Humanoid, Benchmark, Diffusion, Simulation Benchmark, State Estimation
TopoCap: Learning Topology-Agnostic Motion Priors for Monocular Video-to-Animation — Zero-Shot, Biped, Benchmark, Dataset, Flow Matching, VAE
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots — Safety, Humanoid, Dataset, Simulation Benchmark, Real Robot
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation — Teleoperation, Manipulation, Zero-Shot, MuJoCo, Humanoid, Vision-Language
OmniFaceRig: Fully Automatic Inner-Mouth-Aware Face Rigging Across Diverse 3D Character Topologies — Biped, Humanoid, Collision, Benchmark, Dataset, PPO
LIMMT: Less is More for Motion Tracking — Humanoid, Dataset, Simulation Benchmark, Physics-Based Character Animation, Human Motion Analysis and Synthesis
The Lipreading Gap: Do VSR Models Perceive Visual Speech Like Human Lipreaders? — Benchmark, Dataset, Simulation Benchmark, Real Robot
Flash-WAM: Modality-Aware Distillation for World Action Models — Manipulation, Humanoid, Distillation, Benchmark, Diffusion, Simulation Benchmark
Let the Dynamics Flow: Stable Flow Matching Dynamical Systems — Imitation Learning, Generative Models, Humanoid, Benchmark, Dataset, Flow Matching

2026-05

Pause and Think: A Dataset and Benchmark for Video-Grounded Assistive Action Suggestion — MPC, Scene Understanding, Vision-Language, Benchmark, Dataset, Simulation Benchmark
Enhancing Human-Likeness in Reinforcement Learning Agents via Hierarchical Macro Action Quantization — Reinforcement Learning, Human Demonstration, Benchmark, SAC, Simulation Benchmark
Correcting Visual Blur Induced by Attention Distraction to Reduce Hallucinations: Algorithm and Theory — Benchmark, Large Language Model, Simulation Benchmark
Signal Temporal Logic Motion Planning via Graphs of Convex Sets — Humanoid, Motion Planning, Benchmark, Simulation Benchmark
Not Too Generative, Not Too Discriminative: The Human Alignment Sweet Spot — Robustness, Benchmark, Energy-Based, Simulation Benchmark
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control — Reinforcement Learning, Diffusion Policy, Transformer, Humanoid, Pre-training, Dataset
🌟 EgoTraj: Real-World Egocentric Human Trajectory Dataset for Multimodal Prediction, website — Navigation, Humanoid, Trajectory Prediction, Benchmark, Dataset, Simulation Benchmark
MotionMERGE: A Multi-granular Framework for Human Motion Editing, Reasoning, Generation, and Explanation — Zero-Shot, Pre-training, Benchmark, Dataset, Simulation Benchmark, Physics-Based Character Animation
🌟 Adversarial Stress Testing of SPARK Humanoid Safety Filters, website — Safety, Robustness, MuJoCo, Humanoid, Collision, Benchmark
EfficientTDMPC: Improved MPC Objectives for Sample-Efficient Continuous Control — Reinforcement Learning, MPC, Humanoid, Benchmark, Simulation Benchmark
Enhancing Metacognitive AI: Knowledge-Graph Population with Graph-Theoretic LLM Enrichment — Dataset, Large Language Model, PPO, Simulation Benchmark
Why Modeling Human Haptic Material Perception with AI Is Difficult — Benchmark, Dataset, PPO, Simulation Benchmark, Teleoperation, Real Robot
Real2Sim in HOI: Toward Physically Plausible HOI Reconstruction from Monocular Videos — Manipulation, Embodied AI, Humanoid, Benchmark, Simulation Benchmark, Physics-Based Character Animation
Emotional Expression in Low-Degrees-of-Freedom Robots: Assessing Perception with Reachy Mini — Benchmark, Simulation Benchmark, Real Robot
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation — Humanoid, Benchmark, Dataset, Simulation Benchmark

2026-04

🌟 CLAW: Composable Language-Annotated Whole-body Motion Generation, website — Whole-Body Control, MuJoCo, Humanoid, Language-Conditioned, Dataset, Simulation Benchmark

2026-03

RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids — Locomotion, MuJoCo, Humanoid, Fine-tuning, Distillation, Simulation Benchmark
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, / code](https://arxiv.org/abs/2410.00425), website — Embodied AI, Simulation Benchmark, Open Source

2024-07

🌟 [BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark, / code](https://arxiv.org/abs/2407.07788), 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, / code](https://arxiv.org/abs/2406.02523), website — Simulation Benchmark, Open Source

2024-04

🌟 [Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, / code](https://arxiv.org/abs/2404.05695), website — Reinforcement Learning, Zero-Shot, Humanoid, Simulation Benchmark, Open Source

2024-03

🌟 [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, / code](https://arxiv.org/abs/2403.10506), website — Locomotion, Manipulation, Humanoid, Benchmark, Simulation Benchmark, Open Source

Physics-Based Character Animation

2026-08

GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking — Zero-Shot, Humanoid, Benchmark, Physics-Based Character Animation, Simulation Benchmark, Human Motion Analysis and Synthesis

2026-07

Optimization of sim-to-real transfer in the humanoid robot NICO — Sim-to-Real, Humanoid, Inverse Kinematics, Physics-Based Character Animation, Manipulation, Teleoperation
From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation — Humanoid, Vision-Language, Collision, Physics-Based Character Animation
An LLM-Based Automatic Sportscast Solution for Robot Soccer Matches — Humanoid, Physics-Based Character Animation
A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths — Humanoid, Physics-Based Character Animation, Human Motion Analysis and Synthesis, Real Robot

2026-06

PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation — Humanoid, Dataset, Physics-Based Character Animation, Simulation Benchmark, Human Motion Analysis and Synthesis
🌟 WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots, website — Humanoid, Motion Planning, Large Language Model, Physics-Based Character Animation, Human Motion Analysis and Synthesis, Open Source
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models — Reinforcement Learning, Manipulation, Simulator, Humanoid, Actor-Critic, SAC
🌟 MotionVLA: Vision-Language-Action Model for Humanoid Motion, website — Humanoid, Vision-Language, PPO, Physics-Based Character Animation, Human Motion Analysis and Synthesis, Open Source

2026-05

Sketch2Motion: Text-driven 2D Sketch to 3D Animation via Diffusion-guided Skeleton Optimization — Simulator, Biped, Distillation, Dataset, Diffusion, Physics-Based Character Animation
MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control — Humanoid, Diffusion, Physics-Based Character Animation

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

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, , code](https://arxiv.org/abs/2502.20390), 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, code](https://arxiv.org/abs/2305.06456) — Humanoid, Physics-Based Character Animation, Open Source

2022-08

🌟 [ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters, / code](https://arxiv.org/abs/2205.01906), website — Physics-Based Character Animation, Open Source

2021-08

🌟 [AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control, / code](https://arxiv.org/abs/2104.02180), 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, / code](https://arxiv.org/abs/1804.02717), 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

2026-07

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

2026-06

DanceDuo: Bridging Human Movement and AI Choreography — Generative Models, Humanoid, Deep Learning, Pose Estimation, Diffusion, Human Motion Analysis and Synthesis
RoboTales: ROBOTic Anthropomorphic LEarning Systems — PPO, Human Motion Analysis and Synthesis, Real Robot
Legible and Intuitive Multi-modal Robot State and Intent Communication Validated in Online and Real-world Studies — Humanoid, Multi-Modal, Human Motion Analysis and Synthesis

2026-05

Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors — Zero-Shot, Humanoid, Gait, Foundation Model, Human Motion Analysis and Synthesis, Loco-Manipulation and Whole-Body Control
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
Cooperative Robotics Reinforced by Collective Perception for Traffic Moderation — Safety, Humanoid, Collision, Human Motion Analysis and Synthesis

2026-04

🌟 RoSHI: Large-scale Motion Imitation in Humanoid Robots via World Models, website — World Model, Humanoid, Human Motion Analysis and Synthesis, Open Source

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

Name		Name	Last commit message	Last commit date
.github/workflows		.github/workflows
data		data
docs		docs
scripts		scripts
.gitignore		.gitignore
README.md		README.md
package-lock.json		package-lock.json
package.json		package.json
requirements.txt		requirements.txt

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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