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Awesome-Humanoid-Robot-Learning Awesome Maintenance PR's Welcome

Basic Info. This repo collects academic papers about humanoid robot learning. They are mainly categorized by the tasks they focus on. The papers with real robot experiments are preferred in this list. The papers with open-sourced code are added with a star🌟.

Feel free to pull a request for new papers/codes about humanoid robot learning.

Word Cloud

Loco-Manipulation and Whole-Body-Control

  • arXiv 2026.02, OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
  • arXiv 2026.02, LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations, website
  • arXiv 2026.02, Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation
  • arXiv 2026.02, VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety
  • arXiv 2026.02, Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching, website
  • arXiv 2026.02, MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
  • arXiv 2026.02, Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement
  • arXiv 2026.02, General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
  • arXiv 2026.02, HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model, website
  • arXiv 2026.02, EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration, website
  • arXiv 2026.02, MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
  • arXiv 2026.02, Learning Human-Like Badminton Skills for Humanoid Robots
  • arXiv 2026.02, TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
  • arXiv 2026.02, DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
  • arXiv 2026.02, Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations, website
  • arXiv 2026.02, HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
  • arXiv 2026.02, Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
  • arXiv 2026.02, PDF-HR: Pose Distance Fields for Humanoid Robots
  • arXiv 2026.02, HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
  • arXiv 2026.02, Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
  • arXiv 2026.02, HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos, website
  • arXiv 2026.02, TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
  • arXiv 2026.02, ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
  • arXiv 2026.01, Robust and Generalized Humanoid Motion Tracking
  • arXiv 2026.01, RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing
  • arXiv 2026.01, PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes
  • arXiv 2026.01, Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
  • arXiv 2026.01, FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
  • arXiv 2026.01, Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations
  • arXiv 2026.01, Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
  • arXiv 2026.01, Deep Whole-body Parkour
  • arXiv 2025.12, Coordinated Humanoid Manipulation with Choice Policies
  • arXiv 2025.12, UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
  • arXiv 2025.12, EGM: Efficiently Learning General Motion Tracking Policy for High Dynamic Humanoid Whole-Body Control
  • arXiv 2025.12, Semantic Co-Speech Gesture Synthesis and Real-Time Control for Humanoid Robots
  • arXiv 2025.12, CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
  • arXiv 2025.12, PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations
  • arXiv 2025.12, Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
  • arXiv 2025.12, Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning
  • arXiv 2025.12, Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
  • arXiv 2025.11, Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
  • arXiv 2025.11, Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation
  • arXiv 2025.11, HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
  • arXiv 2025.11, SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control
  • arXiv 2025.11, SafeFall: Learning Protective Control for Humanoid Robots
  • arXiv 2025.11, Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
  • arXiv 2025.11, VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
  • arXiv 2025.11, HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
  • arXiv 2025.11, Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning
  • arXiv 2025.11, Robot Crash Course: Learning Soft and Stylized Falling
  • arXiv 2025.11, Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots
  • arXiv 2025.11, SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
  • arXiv 2025.11, Unified Humanoid Fall-Safety Policy from a Few Demonstrations
  • arXiv 2025.11, Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
  • arXiv 2025.11, GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
  • arXiv 2025.11, BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
  • arXiv 2025.11, Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots
  • arXiv 2025.11, TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
  • arXiv 2025.10, Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments
  • arXiv 2025.10, One-shot Humanoid Whole-body Motion Learning
  • arXiv 2025.10, Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
  • arXiv 2025.10, SoftMimic: Learning Compliant Whole-body Control from Examples
  • arXiv 2025.10, From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
  • arXiv 2025.10, Towards Adaptable Humanoid Control via Adaptive Motion Tracking
  • arXiv 2025.10, Learning Human-Humanoid Coordination for Collaborative Object Carrying
  • arXiv 2025.10, Ego-Vision World Model for Humanoid Contact Planning, website
  • arXiv 2025.10, DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
  • arXiv 2025.10, PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
  • arXiv 2025.10, It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots
  • arXiv 2025.10, ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
  • arXiv 2025.10, HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
  • arXiv 2025.10, Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
  • arXiv 2025.09, OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
  • arXiv 2025.09, Towards Versatile Humanoid Table Tennis: Unified Reinforcement Learning with Prediction Augmentation
  • arXiv 2025.09, SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
  • arXiv 2025.10, VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
  • arXiv 2025.09, HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
  • arXiv 2025.09, KungfuBot 2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
  • arXiv 2025.09, Implicit Kinodynamic Motion Retargeting for Human-to-humanoid Imitation Learning
  • arXiv 2025.09, DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
  • arXiv 2025.09, Track Any Motions under Any Disturbances, website
  • arXiv 2025.09, Behavior Foundation Model for Humanoid Robots, website
  • arXiv 2025.09, Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
  • arXiv 2025.09, StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening
  • arXiv 2025.09, TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning, website
  • arXiv 2025.08, HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning, website
  • arXiv 2025.08, HuBE: Cross-Embodiment Human-like Behavior Execution for Humanoid Robots
  • arXiv 2025.08, HumanoidVerse: A Versatile Humanoid for Vision-Language Guided Multi-Object Rearrangement
  • arXiv 2025.08, Task and Motion Planning for Humanoid Loco-manipulation
  • arXiv 2025.08, Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation
  • arXiv 2025.08, GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation
  • arXiv 2025.08, BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
  • arXiv 2025.08, A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
  • arXiv 2025.07, EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
  • arXiv 2025.07, Keep on Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training
  • arXiv 2025.07, UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
  • arXiv 2025.07, ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
  • arXiv 2025.06, Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots
  • arXiv 2025.06, A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
  • arXiv 2025.06, TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality
  • arXiv 2025.06, GMT: General Motion Tracking for Humanoid Whole-Body Control
  • arXiv 2025.06, LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
  • arXiv 2025.06, KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
  • arXiv 2025.06, From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots, website
  • arXiv 2025.06, SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
  • 🌟 arXiv 2025.06, SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World Reinforcement Learning, websie
  • arXiv 2025.06, Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots
  • arXiv 2025.06, From Motion to Behavior: Hierarchical Modeling of Humanoid Generative Behavior Control
  • arXiv 2025.05, SignBot: Learning Human-to-Humanoid Sign Language Interaction
  • arXiv 2025.05, Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
  • arXiv 2025.05, Mobi-Ο€: Mobilizing Your Robot Learning Policy, website
  • arXiv 2025.05, Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors
  • arXiv 2025.05, SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
  • arXiv 2025.05,H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies,website
  • arXiv 2025.05, Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
  • arXiv 2025.05, HuB: Learning Extreme Humanoid Balance, website,
  • arXiv 2025.05, FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation, website
  • arXiv 2025.05, JAEGER: Dual-Level Humanoid Whole-Body Controller
  • arXiv 2025.05, AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control, website
  • arXiv 2025.05, PyRoki: A Modular Toolkit for Robot Kinematic Optimization, website
  • arXiv 2025.05, TWIST: Teleoperated Whole-Body Imitation System
  • arXiv 2025.04, LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
  • arXiv 2025.04, Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
  • arXiv 2025.04, Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning, website
  • arXiv 2025.04, [website],Embodied Chain of Action Reasoning with Multi-Modal Foundation Model for Humanoid Loco-manipulation,website
  • arXiv 2025.03, FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation
  • arXiv 2025.03, Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills, website
  • arXiv 2025.03, Trinity: A Modular Humanoid Robot AI System
  • 🌟 arXiv 2025.03, BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities, websie
  • arXiv 2025.03, Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
  • arXiv 2025.02, HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery
  • 🌟 arXiv 2025.02, HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, website / github
  • arXiv 2025.02, Learning Getting-Up Policies for Real-World Humanoid Robots, website
  • arXiv 2025.02, Learning Humanoid Standing-up Control across Diverse Postures
  • arXiv 2025.02, HugWBC: A Unified and General Humanoid Whole-Body Controller
  • arXiv 2025.02, SPARK: A Toolbox for Safe Humanoid Autonomy and Teleoperation, website
  • arXiv 2025.02, Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions, website
  • arXiv 2024.12, Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration
  • arXiv 2024.12, Learning from Massive Human Videos for Universal Humanoid Pose Control, website
  • arXiv 2024.12, ExBody2: Advanced Expressive Humanoid Whole-Body Control, website
  • arXiv 2024.12, Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control, website
  • arXiv 2024.11, A Behavior Architecture for Fast Humanoid Robot Door Traversals, video
  • arXiv 2024.11, The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control
  • arXiv 2024.10, EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning
  • arXiv 2024.10, HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots, website
  • arXiv 2024.10, Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions, website
  • arXiv 2024.10, Whole-Body Dynamic Throwing with Legged Manipulators
  • arXiv 2024.09, Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation, Website
  • arXiv 2024.09, Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing
  • arXiv 2024.07, Flow Multi-Support: Flow Matching Imitation Learning for Multi-Support Manipulation, video / website
  • arXiv 2024.06, HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation, website
  • 🌟 arXiv 2024.06, HumanPlus: Humanoid Shadowing and Imitation from Humans, website / code
  • 🌟 arXiv 2024.06, OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, website / code
  • arXiv 2024.06, WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts, website
  • 🌟 arXiv 2024.03, Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation, website / code
  • 🌟 arXiv 2024.02, Expressive Whole-Body Control for Humanoid Robots, website / code
  • arXiv 2023.10, Sim-to-Real Learning for Humanoid Box Loco-Manipulation
  • arXiv 2022.12, Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
  • arXiv 2025.12, WholeBodyVLA: Towards Unified Latent VLA for Whole-body Loco-manipulation Control
  • website 2025.11, SPIDER: Scalable Physics-Informed DExterous Retargeting
  • website 2025.11, SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
  • arXiv 2025.10, AdaMimic: Towards Adaptable Humanoid Control via Adaptive Motion Tracking
  • arXiv 2025.10, HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
  • arXiv 2025.10, OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
  • arXiv 2025.07, ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation, website
  • arXiv 2025.06, LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction, website
  • arXiv 2025.06, General Motion Tracking for Humanoid Whole-Body Control, website
  • arXiv 2025.06, KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills, website
  • arXiv 2025.06, CLONE: Holistic Closed-Loop Whole-Body Teleoperation for Long-Horizon Humanoid Control, website
  • arXiv 2025.02, ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills, website
  • 2024.08, VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters, website
  • 2024.07, Robot Motion Diffusion Model: Motion Generation for Robotic Characters,

Manipulation

  • arXiv 2026.02, DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos, website
  • arXiv 2026.01, HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation
  • arXiv 2026.01, Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation
  • arXiv 2026.01, DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation
  • arXiv 2026.01, Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
  • arXiv 2025.11, SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
  • arXiv 2025.11, Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
  • arXiv 2025.11, In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data
  • arXiv 2025.11, RGMP: Recurrent Geometric-prior Multimodal Policy for Generalizable Humanoid Robot Manipulation
  • arXiv 2025.11, Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
  • arXiv 2025.11, EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations
  • arXiv 2025.11, Endowing GPT-4 with a Humanoid Body: Building the Bridge Between Off-the-Shelf VLMs and the Physical World
  • arXiv 2025.10, A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation
  • arXiv 2025.10, Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots
  • arXiv 2025.09, EgoDemoGen: Novel Egocentric Demonstration Generation Enables Viewpoint-Robust Manipulation
  • arXiv 2025.09, Residual Off-Policy RL for Finetuning Behavior Cloning Policies
  • arXiv 2025.09, MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos
  • arXiv 2025.08, Masquerade: Learning from In-the-wild Human Videos using Data-Editing
  • arXiv 2025.08, TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
  • arXiv 2025.07, H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation
  • arXiv 2025.07, Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos, website / code / model
  • arXiv 2025.07, EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos, website
  • arXiv 2025.07, Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming
  • arXiv 2025.06, Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation
  • arXiv 2025.06, Vision in Action: Learning Active Perception from Human Demonstrations
  • arXiv 2025.05, DreamGen: Unlocking Generalization in Robot Learning through Neural Trajectories
  • arXiv 2025.05, EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video
  • arXiv 2025.03, Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation, website
  • arXiv 2025.03, GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
  • arXiv 2025.03, Humanoid Policy ~ Human Policy, website
  • arXiv 2025.03, Humanoids in Hospitals: A Technical Study of Humanoid Surrogates for Dexterous Medical Interventions
  • arXiv 2025.02, Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
  • arXiv 2025.01, MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data
  • arXiv 2024.12, ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition, website
  • arXiv 2024.11, Object-Centric Dexterous Manipulation from Human Motion Data, website
  • arXiv 2024.11, DexHub and DART: Towards Internet-Scale Robot Data Collection, website
  • arXiv 2024.11, Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck
  • 🌟 arXiv 2024.10, EgoMimic: Scaling Imitation Learning via Egocentric Video, website / code
  • arXiv 2024.10, Learning to Look: Seeking Information for Decision Making via Policy Factorization, website
  • arXiv 2024.10, OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation, website
  • 🌟 arXiv 2024.10, Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies, website / code
  • 🌟 arXiv 2024.08, ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, website / code
  • 🌟 arXiv 2024.07, Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, website / code
  • 🌟 arXiv 2024.07, Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, website / code
  • 🌟 arXiv 2024.04, Learning Visuotactile Skills with Two Multifingered Hands, website / code
  • 🌟 arXiv 2024.03, DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation, website / code
  • website, DreamZero: World Action Models are Zero-shot Policies
  • website, A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
  • Science Robotics 2026.01, Visual-tactile pretraining and online multitask learning for humanlike manipulation dexterity
  • pdf, IN-N-ON: SCALING EGOCENTRIC MANIPULATION WITH IN-THE-WILD AND ON-TASK DATA
  • website, Learning to Grasp Anything by Playing with Random Toys
    • provide some intuition on imitation learning data collection: learn generalizable grasping from toy objects with different primitives to real-world objects
  • arXiv 2025.10, Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
  • arXiv 2025.10, ActiveUMI: Robotic Manipulation with Active Perception from Robot‑Free Human Demonstrations
  • arXiv 2025.05, DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation, website
  • arXiv 2025.02, Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids, website
  • 2024.09, Bimanual Dexterity for Complex Tasks, website
  • 1999, Is imitation learning the route to humanoid robots?

Teleoperation

  • arXiv 2026.02, CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
  • arXiv 2026.02, ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
  • arXiv 2026.02, TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior
  • arXiv 2026.02, A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
  • arXiv 2025.11, Learning Adaptive Neural Teleoperation for Humanoid Robots
  • arXiv 2025.11, TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
  • arXiv 2025.10, Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots
  • arXiv 2025.10, Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation
  • arXiv 2025.10, LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
  • arXiv 2025.08, Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
  • arXiv 2025.08, CHILD: a Whole-Body Humanoid Teleoperation System
  • arXiv 2025.06, CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
  • arXiv 2025.05, Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
  • arXiv 2025.05, TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation, website
  • arXiv 2025.05, Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots
  • arXiv 2025.05, TWIST: Teleoperated Whole-Body Imitation System
  • arXiv 2025.03, NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots
  • 🌟 arXiv 2025.02, HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, code
  • arXiv 2024.12, Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
  • 🌟 arXiv 2024.10, Generalizable Humanoid Manipulation with 3D Diffusion Policies, website / code
  • arXiv 2024.09, High-Speed and Impact Resilient Teleoperation of Humanoid Robots
  • 🌟 arXiv 2024.08, ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, website / code
  • 🌟 arXiv 2024.07, Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, website / code
  • 🌟 arXiv 2024.07, Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, website / code
  • 🌟 arXiv 2024.06, HumanPlus: Humanoid Shadowing and Imitation from Humans, website / code
  • 🌟 arXiv 2024.06, OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, website / code
  • arXiv 2024.03, Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation, website
  • 🌟 arXiv 2023.09, Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, website / code
  • arXiv 2023.01, Teleoperation of Humanoid Robots: A Survey, webpage
  • arXiv 2022.03, iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, Science Robotics / github
  • arXiv 2025.08, CHILD: Controller for Humanoid Imitation and Live Demonstration a Whole-Body Humanoid Teleoperation System, website

Locomotion

  • arXiv 2026.02, Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
  • arXiv 2026.02, APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots, website
  • arXiv 2026.02, ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
  • arXiv 2026.02, Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels
  • arXiv 2026.02, A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion
  • arXiv 2026.02, Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
  • arXiv 2026.02, HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation
  • arXiv 2026.02, CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
  • arXiv 2026.02, RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
  • arXiv 2026.02, Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
  • arXiv 2026.01, FastStair: Learning to Run Up Stairs with Humanoid Robots
  • arXiv 2026.01, AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
  • arXiv 2026.01, Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
  • arXiv 2026.01, SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
  • arXiv 2025.12, Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
  • arXiv 2025.12, RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion
  • arXiv 2025.12, E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion
  • arXiv 2025.12, Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy
  • arXiv 2025.12, Symphony: A Heuristic Normalized Calibrated Advantage Actor and Critic Algorithm in application for Humanoid Robots
  • arXiv 2025.12, A Hierarchical, Model-Based System for High-Performance Humanoid Soccer
  • arXiv 2025.12, Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction
  • arXiv 2025.12, Learning Sim-to-Real Humanoid Locomotion in 15 Minutes
  • arXiv 2025.12, H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-shot Novel Embodiment Transfer
  • arXiv 2025.12, A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs
  • arXiv 2025.11, Reference-Free Sampling-Based Model Predictive Control
  • arXiv 2025.10, PHUMA: Physically-Grounded Humanoid Locomotion Dataset
  • arXiv 2025.10, GaussGym: An open-source real-to-sim framework for learning locomotion from pixels
  • arXiv 2025.10, Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion
  • arXiv 2025.10, PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing
  • arXiv 2025.10, Preference-Conditioned Multi-Objective RL for Integrated Command Tracking and Force Compliance in Humanoid Locomotion
  • arXiv 2025.10, DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
  • arXiv 2025.09, Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning
  • arXiv 2025.09, RuN: Residual Policy for Natural Humanoid Locomotion
  • arXiv 2025.09, Chasing Stability: Humanoid Running via Control Lyapunov Function Guided RL
  • arXiv 2025.09, Reduced-Order Model-Guided RL for Demonstration-Free Humanoid Locomotion
  • arXiv 2025.09, HuMam: Humanoid Motion Control via End-to-End Deep RL with Mamba
  • arXiv 2025.09, Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
  • arXiv 2025.08, Traversing Narrow Paths: A Two-Stage RL Framework for Robust and Safe Humanoid Walking
  • arXiv 2025.08, No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets
  • arXiv 2025.08, Geometry-Aware Predictive Safety Filters on Humanoids
  • arXiv 2025.08, MASH: Cooperative-Heterogeneous Multi-Agent RL for Single Humanoid Robot Locomotion
  • arXiv 2025.08, End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
  • arXiv 2025.08, Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
  • arXiv 2025.08, Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
  • arXiv 2025.07, Success in Humanoid Reinforcement Learning under Partial Observation
  • arXiv 2025.07, Learning Humanoid Arm Motion via Centroidal Momentum Regularized Multi-Agent Reinforcement Learning
  • arXiv 2025.07, Mechanical Intelligence-Aware Curriculum RL for Humanoids with Parallel Actuation
  • arXiv 2025.06, Booster Gym: An End-to-End RL Framework for Humanoid Robot Locomotion
  • arXiv 2025.06, DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
  • arXiv 2025.06, MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains, website
  • arXiv 2025.06, A Gait Driven RL Framework for Humanoid Robots
  • arXiv 2025.06, Learning Aerodynamics for the Control of Flying Humanoid Robots
  • arXiv 2025.05, FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control, website
  • arXiv 2025.05, Gait-Conditioned RL with Multi-Phase Curriculum for Humanoid Locomotion
  • arXiv 2025.05, Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
  • arXiv 2025.05, One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion
  • arXiv 2025.05, TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion
  • arXiv 2025.05, Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion
  • arXiv 2025.05, SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
  • arXiv 2025.05, Let Humanoids Hike! Integrative Skill Development on Complex Trails
  • arXiv 2025.05, VideoMimic: Visual imitation enables contextual humanoid control, website
  • arXiv 2025.04, SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings
  • arXiv 2025.04, Robust Humanoid Walking on Compliant and Uneven Terrain with Deep RL
  • arXiv 2025.04, PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion
  • arXiv 2025.04, Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
  • arXiv 2025.04, Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
  • arXiv 2025.03, StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion
  • arXiv 2025.03, Natural Humanoid Robot Locomotion with Generative Motion Prior
  • arXiv 2025.03, LiPS: Large-Scale Humanoid Robot RL with Parallel-Series Structures
  • arXiv 2025.03, Distillation-PPO: A Novel Two-Stage RL Framework for Humanoid Robot Perceptive Locomotion
  • arXiv 2025.03, HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion, website
  • arXiv 2025.03, Learning Perceptive Humanoid Locomotion over Challenging Terrain
  • arXiv 2025.02, Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
  • arXiv 2025.02, Learning Humanoid Locomotion with World Model Reconstruction
  • arXiv 2025.02, VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception, website
  • arXiv 2025.02, BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds, website
  • arXiv 2024.11, Learning Humanoid Locomotion with Perceptive Internal Model
  • 🌟 arXiv 2024.11, Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing, code
  • 🌟 arXiv 2024.10, Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, website / code
  • arXiv 2024.10, Learning Humanoid Locomotion over Challenging Terrain, website
  • arXiv 2024.08, Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
  • arXiv 2024.06, Humanoid Parkour Learning, website
  • arXiv 2024.02, Humanoid Locomotion as Next Token Prediction, website
  • arXiv 2024.02, Whole-body Humanoid Robot Locomotion with Human Reference, website
  • arXiv 2024.01, Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
  • arXiv 2023.09, Learning to Walk and Fly with Adversarial Motion Priors
  • arXiv 2023.07, Benchmarking Potential Based Rewards for Learning Humanoid Locomotion,
  • arXiv 2023.03, Real-World Humanoid Locomotion with Reinforcement Learning, website
  • arXiv 2023.02, Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
  • website 2026.01, Walk the PLANC: Physics‑Guided RL for Agile Humanoid LocomotioN on Constrained Footholds
  • arXiv 2025.09, LocoFormer: Generalist Locomotion via Long-Context Adaptation
  • 2024.10, Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training, website
  • 2024.10, Bi-Level Motion Imitation for Humanoid Robots, website

Navigation

  • arXiv 2026.02, EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models
  • arXiv 2026.01, FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation
  • arXiv 2025.11, Thinking in 360: Humanoid Visual Search in the Wild
  • arXiv 2025.11, Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
  • arXiv 2025.09, Quantum deep reinforcement learning for humanoid robot navigation task
  • arXiv 2025.08, LookOut: Real-World Humanoid Egocentric Navigation
  • arXiv 2025.08, INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM
  • arXiv 2025.08, Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
  • arXiv 2025.07, Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots
  • arXiv 2025.06, RL with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
  • arXiv 2025.05, NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
  • arXiv 2025.03, HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
  • arXiv 2024.12, NaVILA: Legged Robot Vision-Language-Action Model for Navigation, website
  • arXiv 2024.12, ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning
  • arXiv 2023.10, NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
  • arXiv 2025.07, LOVON: Legged Open-Vocabulary Object Navigator, website

State Estimation

  • arXiv 2025.11, AutoOdom: Learning Auto-regressive Proprioceptive Odometry for Legged Locomotion
  • arXiv 2025.11, InEKFormer: A Hybrid State Estimator for Humanoid Robots
  • arXiv 2025.07, Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation
  • arXiv 2022.07, An Empirical Evaluation of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems
  • arXiv 2019.04, Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
  • arXiv 2017.05, Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors
  • arXiv 2014.10, The invariant extended Kalman filter as a stable observer
  • website, GTSAM: Factor graphs for Sensor Fusion in Robotics
  • github, Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
  • github, VINS-Fusion: An optimization-based multi-sensor state estimator
  • github, ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

Sim-to-Real

  • arXiv 2026.02, MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
  • arXiv 2026.02, RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Robots
  • arXiv 2026.02, ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
  • 🌟 arXiv 2026.01, Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control, website / code
  • arXiv 2025.10, PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization
  • arXiv 2025.09, Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion
  • arXiv 2025.09, Towards bridging the gap: Systematic sim-to-real transfer for diverse legged robots
  • arXiv 2025.08, Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
  • arXiv 2025.05, DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control
  • arXiv 2025.05, Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
  • arXiv 2025.04, Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
  • arXiv 2025.02, Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
  • arXiv 2019.01, Learning Agile and Dynamic Motor Skills for Legged Robots

Hardware Design

  • arXiv 2026.02, Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids
  • arXiv 2026.01, Fauna Sprout: A lightweight, approachable, developer-ready humanoid robot
  • arXiv 2025.12, Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand: Toward Dexterous Manipulation for Payload Constrained Humanoids
  • arXiv 2025.12, Olaf: Bringing an Animated Character to Life in the Physical World
  • arXiv 2025.12, OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
  • arXiv 2025.12, DIJIT: A Robotic Head for an Active Observer
  • arXiv 2025.11, DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
  • arXiv 2025.11, Human-Level Actuation for Humanoids
  • arXiv 2025.10, Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery
  • arXiv 2025.10, Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot
  • arXiv 2025.09, Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
  • arXiv 2025.09, A Framework for Optimal Ankle Design of Humanoid Robots
  • arXiv 2025.09, CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids
  • arXiv 2025.09, AGILOped: Agile Open-Source Humanoid Robot for Research
  • arXiv 2025.07, A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0
  • arXiv 2025.07, Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting
  • arXiv 2025.06, PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids
  • arXiv 2025.06, Explosive Output to Enhance Jumping Ability: A Variable Reduction Ratio Design Paradigm for Humanoid Robots Knee Joint
  • arXiv 2025.06, RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
  • arXiv 2025.06, iRonCub 3: The Jet-Powered Flying Humanoid Robot
  • arXiv 2025.04, Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot, website
  • arXiv 2025.04, RUKA: Rethinking the Design of Humanoid Hands with Learning, website
  • arXiv 2025.04, ORCA: Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning, website
  • arXiv 2025.03, Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models
  • arXiv 2025.02, Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
  • 🌟 arXiv 2025.02, ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation, website / github
  • arXiv 2025.01, Design and Control of a Bipedal Robotic Character
  • 🌟 arXiv 2024.09, The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics, website / code
  • 🌟 arXiv 2024.07, Berkeley Humanoid: A Research Platform for Learning-based Control, website / code
  • arXiv 2021.04, The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
  • arXiv 2019.04, Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation, website
  • github, Micro-Wheeled_leg-Robot
  • github, Aero Hand Open
  • website, DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
  • website, ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces
  • 2024.11, Zeroth Bot, Github
  • 2024.07, Design and Control of a Bipedal Robotic Character, youtube
  • nature communication 2021, Integrated linkage-driven dexterous anthropomorphic robotic hand
  • TRO 2017, Proprioceptive actuator design in the MIT Cheetah: Impact mitigation and high‑bandwidth physical interaction for dynamic legged robots

Simulation Benchmark

  • ICLR 2026, RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  • arXiv 2026.02, MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
  • arXiv 2025.12, Benchmarking Humanoid Imitation Learning with Motion Difficulty
  • arXiv 2025.10, Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
  • arXiv 2025.10, Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report
  • 🌟 arXiv 2025.07, HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning, website
  • arXiv 2025.06, DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning
  • arXiv 2025.06, Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics
  • arXiv 2025.06, Humanoid World Models: Open World Foundation Models for Humanoid Robotics
  • arXiv 2024.12, Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking, website
  • 🌟 arXiv 2024.12, ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks, website
  • arXiv 2024.10, DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning, website
  • 🌟 arXiv 2024.10, ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI, website / code
  • 🌟 arXiv, GRUtopia: Dream General Robots in a City at Scale, website
  • 🌟 arXiv 2024.07, BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark, website / code
  • 🌟 arXiv 2024.06, RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots, website / code
  • 🌟 arXiv 2024.04, Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, website / code
  • 🌟 arXiv 2024.03, HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, website / code
  • 🌟 2025.01, MuJoCo Playground, github / website
  • arXiv 2024.12, Genesis: A Generative and Universal Physics Engine for Robotics and Beyond, code / website

Physics-Based Character Animation

  • SIGGRAPH 2010, Spatial relationship preserving character motion adaptation
  • arXiv 2026.02, Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control
  • arXiv 2026.02, InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions
  • arXiv 2025.12, CRISP: Contact-Guided Real2Sim from Monocular Video with Planar Scene Primitives
  • arXiv 2025.12, Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions
  • arXiv 2025.10, PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction
  • arXiv 2025.09, Learning to Ball: Composing Policies for Long-Horizon Basketball Moves
  • arXiv 2025.09, RobotDancing: Residual-Action RL Enables Robust Long-Horizon Humanoid Motion Tracking
  • arXiv 2025.08, FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control
  • arXiv 2025.08, SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and RL
  • arXiv 2025.08, Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
  • arXiv 2025.07, Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why
  • arXiv 2025.06, RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
  • arXiv 2025.05, AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning
  • arXiv 2025.05, MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation
  • arXiv 2025.05, Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning, website
  • arXiv 2025.05, ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators
  • arXiv 2025.04, Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models
  • 🌟 arXiv 2025.03 / CVPR 2025 Oral, TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization, website
  • 🌟 arXiv 2025.02, InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions, website, code
  • arXib 2024.10, CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control, website
  • 🌟 arXiv 2024.09, MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting, website
  • arXiv 2024.08, SkillMimic: Learning Basketball Interaction Skills from Demonstrations
  • 🌟 arXiv 2023.09, Unified Human-Scene Interaction via Prompted Chain-of-Contacts, website
  • arXiv 2023.06, Hierarchical Planning and Control for Box Loco-Manipulation
  • 🌟 arXiv 2023.05, Perpetual Humanoid Control for Real-time Simulated Avatars, code
  • 🌟 arXiv 2022.08, ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters, website / code
  • 🌟 arXiv 2021.08, AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control, website / code
  • arXiv 2018.11, Hierarchical visuomotor control of humanoids
  • arXiv 2018.09, Multi-task Deep Reinforcement Learning with PopArt
  • 🌟 arXiv 2018.08, DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills, website / code
  • arXiv 2018.01, Learning Symmetric and Low-energy Locomotion
  • 🌟 SIGGRAPH 2025, PARC: Physics-based Augmentation with Reinforcement Learning for Character Controllers, website / github
  • TOG 2023, AdaptNet: Policy Adaptation for Physics-Based Character Control
  • TOG 2023, Composite Motion Learning with Task Control

Human Motion Analysis and Synthesis

  • arXiv 2026.02, EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agents
  • arXiv 2026.02, WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos, website
  • arXiv 2025.12, Diffusion Forcing for Multi-Agent Interaction Sequence Modeling
  • SIGGRAPH Asia 2025.12, Control Operators for Interactive Character Animation
  • website 2025.12, Implicit BΓ©zier Motion Model for Precise Spatial and Temporal Control
  • arXiv 2025.12, Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction
  • arXiv 2025.08, Being-M0.5: A Real-Time Controllable Vision-Language-Motion Model, website
  • arXiv 2025.07, Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data, website
  • arXiv 2025.05, GENMO: A GENeralist Model for Human MOtion, website
  • arXiv 2025.03, FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Video, website
  • arXiv 2025.04, HUMOTO: A 4D Dataset of Mocap Human Object Interactions, website
  • arXiv 2025.04, PICO: Reconstructing 3D People In Contact with Objects
  • arXiv 2025.04, Climber Force and Motion Estimation from Video, website
  • arXiv 2025.03, PRIMAL Physically Reactive and Interactive Motor Model for Avatar Learning
  • arXiv 2025.03, ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinate
  • arXiv 2024.10, Scaling Large Motion Models with Million-Level Human Motions
  • arXiv 2024.05, Flexible Motion In-betweening with Diffusion Models
  • arXiv 2024.04, Taming Diffusion Probabilistic Models for Character Control
  • arXiv 2023.10, OmniControl: Control Any Joint at Any Time for Human Motion Generation
  • arXiv 2023.07, TEDi: Temporally-Entangled Diffusion for Long-Term Motion Synthesis
  • arXiv 2023.06, Example-based Motion Synthesis via Generative Motion Matching
  • arXiv 2023.05, Guided Motion Diffusion for Controllable Human Motion Synthesis
  • arXiv 2022.12, PhysDiff: Physics-Guided Human Motion Diffusion Model, website
  • CVPR 2022, Generating Diverse and Natural 3D Human Motions From Text
  • SIGGRAPH 2020, Learned motion matching

Contact

If you have questions/suggestions, feel free to email Yanjie Ze.