Awesome-Humanoid-Robot-Learning

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.

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Paper growth: total papers in the list and new papers per month

Awesome-Humanoid-Robot-Learning
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Loco-Manipulation and Whole-Body-Control

🌟arXiv 2026.10, ATHLETE: Learning Reactive Humanoid Tennis via Trajectory-Guided Motion Matching, website
arXiv 2026.10, Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
arXiv 2026.10, VICAR: Video Imitation with Contact-Aware Retargeting for Humanoid Interactive Skills
arXiv 2026.10, Reflex: Visually Grounded Reactive Humanoid Control
arXiv 2026.10, PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting
arXiv 2026.10, PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface, website
arXiv 2026.10, CSF: Contextual Safety Filtering for Motion Generators, website
arXiv 2026.10, VioLA: Learning Generalist Humanoid Control Policies from Human Data
arXiv 2026.10, FAITH: Feasibility-Aware Safety-Filtered RL for High-Dimensional Systems
arXiv 2026.10, Humanoid World Action Model With Joint State-Action Generation
arXiv 2026.10, Being-M0.7: A Latent World-Action Model for Humanoid Robots
arXiv 2026.10, Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control, website
arXiv 2026.10, Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data, website
arXiv 2026.10, MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking, website
arXiv 2026.10, HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
arXiv 2026.10, From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids
arXiv 2026.10, Humanoid Horizon: Extending Task Horizon in Whole-Body Loco-Manipulation via Parallel Training, Dynamic Starting, and Reward Gating, website
arXiv 2026.10, iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
arXiv 2026.10, BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
arXiv 2026.10, InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation, website
arXiv 2026.10, I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
arXiv 2026.10, Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture, website
arXiv 2026.10, CoDance: Learning Reactive and Compliant Human-Humanoid Interaction from Video, website
arXiv 2026.10, Exploiting Hierarchical Controller Structure in Contextual Parameter Learning for Humanoid Loco-Manipulation
arXiv 2026.10, Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
🌟arXiv 2026.10, Continual Humanoid Motion Learning
arXiv 2026.10, KungfuAthleteBot: learning high-dynamic humanoid motion from video with unified robust recovery
arXiv 2026.10, Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
arXiv 2026.10, InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation, website
arXiv 2026.10, Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics
arXiv 2026.10, MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending
arXiv 2026.10, Towards a General Humanoid Loco-Manipulation Model via Egocentric Whole-Body Human Data Pretraining
🌟arXiv 2026.10, HumanoidTTT: Test-Time Capability Reuse for Efficient Humanoid Control, website
arXiv 2026.09, ECHO-G: Embodied Co-speech Humanoid mOtion Generation, website
arXiv 2026.09, NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation, website
arXiv 2026.09, Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library
arXiv 2026.09, CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation
arXiv 2026.09, Dense Temporal Motion Retargeting for Legged Robots, website
arXiv 2026.09, GestAdapt: Workspace-Conditioned Co-Speech Gesture Generation for Humanoid Robots
CoRL 2026, Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation, website
arXiv 2026.09, CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments, website
arXiv 2026.09, EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation, website
arXiv 2026.09, Learning Expressive and Compositional Motion Representation via Spectral Skills, website
arXiv 2026.09, EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation
arXiv 2026.09, Track-and-Complete: Learning Humanoid Skills from a Single Failed Human Video, website
arxiv 2026.09, OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport, website
arXiv 2026.09, EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation
arXiv 2026.09, KPI: A Promptable Kernel for Physical Interaction on Humanoids, website
arXiv 2026.09, Humanoid Loco-Manipulation With Discrete VLA Model
arXiv 2026.09, Uni-VLaT: Whole-Body Tactile Adaptation of VLA Policies for Humanoid Loco-Manipulation
arXiv 2026.09, DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations, website
arXiv 2026.09, HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction, website
arXiv 2026.09, WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation, website
arXiv 2026.09, AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid
arXiv 2026.09, SocialHumanoid: Towards Expressive Humanoid Behavior via One-Step Co-Speech Motion Generation, website
arXiv 2026.09, CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets, website
arXiv 2026.09, RoboSTAR: Next-Scale Autoregressive Sign Language Translation for Humanoid Robots
CoRL 2026, Humanoid Badminton: Learning Dynamic Racket Skills from Limited Human Motion Data
arXiv 2026.09, Praxis: Distilling Physical Interaction Priors from Egocentric Videos for Generalizable Whole-Body Manipulation
arXiv 2026.09, HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation, website
arXiv 2026.09, BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video
🌟arXiv 2026.09, ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control
arXiv 2026.09, DAVIS: A Depth-Only End-to-End Active-Vision Framework for Humanoid Soccer Skills, website
arXiv 2026.09, Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer, website
arXiv 2026.09, Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training
arXiv 2026.09, PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning
arXiv 2026.09, Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation
arXiv 2026.09, HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments
arXiv 2026.09, PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control, website
arXiv 2026.09, Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation
arXiv 2026.09, STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots
arXiv 2026.09, Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation
arXiv 2026.09, HIGenNTO: Scalable Humanoid Interaction Generation via Noise-Space Trajectory Optimization
IROS 2026 Workshop, FRAMES: Failure Recovery And Monitoring of Embodied Skills for Humanoid Loco-Manipulation
arXiv 2026.09, CHOREO: Every Humanoid Skill as a Trajectory
arXiv 2026.09, LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
arXiv 2026.09, Learning Distance-Conditioned Object Transport for Humanoid Loco-Manipulation from a Single Motion Clip
arXiv 2026.09, Dynamics-Induced Commitment in Learning-Based Robotic Penalty Kicks, website
arXiv 2026.09, ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots, website
arXiv 2026.09, Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator
arXiv 2026.09, KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation
arXiv 2026.09, WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors, website
arXiv 2026.09, Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control, website
arXiv 2026.09, Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions, website
arXiv 2026.09, WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination, website
arXiv 2026.09, Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
arXiv 2026.09, ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids
CoRL 2026, X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control
arXiv 2026.09, Self-Evolving AI for Humanoids: Mechanisms, Safety, and Evaluation of Post-Deployment Self-Improvement
arXiv 2026.09, Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation
arXiv 2026.09, ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control, website
arXiv 2026.09, PGMT: Perceptive General Motion Tracking for Humanoid Robots, website
CoRL 2026, SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer, website
arXiv 2026.09, GLoRI: Closed-Loop Whole-Body Tracking with Global-Local Reference Interaction for Humanoid Loco-Manipulation
arXiv 2026.09, Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence
arXiv 2026.09, ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control, website
arXiv 2026.08, Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception, website
arXiv 2026.08, LAC: Linear and Angular Compliance for Humanoid Whole-body Control, website
🌟IROS 2026, DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model
arXiv 2026.08, GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly, website
arXiv 2026.08, Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking, website
arXiv 2026.08, GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction, website
arXiv 2026.08, FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences, website
arXiv 2026.08, HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL, website
arXiv 2026.08, Throwing a Tight Spiral American Football by a Humanoid Robot
arXiv 2026.08, RoboStriker: Latent-Space Strategic Games for Autonomous Humanoid Boxing
arXiv 2026.08, Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
arXiv 2026.08, LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation
arXiv 2026.08, ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
arXiv 2026.08, RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation
arXiv 2026.08, PFM-HR: Pose Flow Matching for Humanoid Robots
arXiv 2026.08, Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting, website
arXiv 2026.08, StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
arXiv 2026.08, Perception-and-action system for humanoid robot task execution in construction
arXiv 2026.08, GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking
arXiv 2026.08, LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts, website
arXiv 2026.08, A Change of Frame Makes the Capture Point Proprioceptive: Distillation-Free Humanoid Single-Leg Balance
arXiv 2026.08, Developing Combined Manipulation and Locomotion Skills with Interaction Representation and Skill Composition
arXiv 2026.07, PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball, website
AIM 2026, Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data
arXiv 2026.07, Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control
arXiv 2026.07, What Matters in Humanoid General Motion Tracking? An Empirical Study
arXiv 2026.07, FARO: Feasibility-Aware Robot Motion Optimization
arXiv 2026.07, Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation
arXiv 2026.07, From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation
arXiv 2026.07, Scaling Behavior Foundation Model for Humanoid Robots
RoboCup 2026, Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control, website
arXiv 2026.07, Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning
arXiv 2026.07, ContactMimic: Humanoid Object Interaction via Contact Control, website
arXiv 2026.06, VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes, website
arXiv 2026.06, ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control, website
arXiv 2026.06, AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
arXiv 2026.06, CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation, website
arXiv 2026.06, SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction, website
arXiv 2026.06, Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking
arXiv 2026.06, PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation
arXiv 2026.06, TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes
arXiv 2026.06, OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
arXiv 2026.06, Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots
arXiv 2026.06, WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
arXiv 2026.06, RGB: RL Guided Whole-Body MPPI for Humanoid Control
arXiv 2026.06, BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models
arXiv 2026.06, CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation, website
arXiv 2026.06, TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation, website
arXiv 2026.06, OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation, website
arXiv 2026.06, MotionPyramid: Hierarchical Motion Representation and Residual Interfaces
arXiv 2026.06, HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations
arXiv 2026.06, VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
arXiv 2026.06, λ-Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety
arXiv 2026.06, WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning, website
arXiv 2026.06, GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
arXiv 2026.06, Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids, website
arXiv 2026.06, Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation, website
arXiv 2026.06, RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning, website
arXiv 2026.06, OMG: Omni-Modal Motion Generation for Generalist Humanoid Control, website
arXiv 2026.06, VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands, website
arXiv 2026.06, MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
arXiv 2026.06, OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation, website
arXiv 2026.06, EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
arXiv 2026.06, Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning
arXiv 2026.06, Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
ICML 2026, LIMMT: Less is More for Motion Tracking
arXiv 2026.06, HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers, website
arXiv 2026.06, MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
arXiv 2026.06, LadderMan: Learning Humanoid Perceptive Ladder Climbing, website
🌟arXiv 2026.06, Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
arXiv 2026.06, GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors, website
🌟arXiv 2026.06, M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
arXiv 2026.06, Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots, website
arXiv 2026.06, Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots, website
arXiv 2026.06, SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation, website
arXiv 2026.06, PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments
arXiv 2026.06, LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World, website
arXiv 2026.06, Constrained Whole-Body Tracking for Humanoid Robots
arXiv 2026.06, HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads
arXiv 2026.05, HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning, website
arXiv 2026.05, Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
arXiv 2026.05, Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking, website
arXiv 2026.05, Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
arXiv 2026.05, Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum, website
🌟arXiv 2026.05, SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework, website / code
arXiv 2026.05, CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation, website
arXiv 2026.05, HoloMotion-1 Technical Report
arXiv 2026.05, Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
arXiv 2026.05, ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
arXiv 2026.05, BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
IROS 2026, VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids, website
arXiv 2026.04, ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control, website
arXiv 2026.04, Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
arXiv 2026.04, X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
arXiv 2026.04, RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
arXiv 2026.04, Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
arXiv 2026.04, UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling, website
arXiv 2026.04, Switch: Learning Agile Skills Switching for Humanoid Robots
arXiv 2026.04, Learning Versatile Humanoid Manipulation with Touch Dreaming
arXiv 2026.04, Tree Learning: A Multi-Skill Continual Learning Framework for Humanoid Robots
🌟arXiv 2026.04, CLAW: Composable Language-Annotated Whole-body Motion Generation
arXiv 2026.04, HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation, website
arXiv 2026.04, SMASH: Mastering Scalable Whole-Body Skills for Humanoid Ping-Pong with Egocentric Vision
arXiv 2026.04, BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
arXiv 2026.04, DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
🌟website 2026.03, LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
arXiv 2026.03, Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
arXiv 2026.03, SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating, website
arXiv 2026.03, Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control, website
arXiv 2026.03, AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learning
arXiv 2026.03, Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis
arXiv 2026.03, PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
arXiv 2026.03, RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids
arXiv 2026.03, ECHO: Edge-Cloud Humanoid Orchestration for Language-to-Motion Control
arXiv 2026.03, CyboRacket: A Perception-to-Action Framework for Humanoid Racket Sports
arXiv 2026.03, REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning, website
arXiv 2026.03, Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data, website
arXiv 2026.03, FastDSAC: Unlocking the Potential of Maximum Entropy RL in High-Dimensional Humanoid Control
arXiv 2026.03, Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
arXiv 2026.03, SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
arXiv 2026.03, Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation
arXiv 2026.03, SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning, website
arXiv 2026.03, Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
arXiv 2026.03, ZeroWBC: Learning Natural Visuomotor Humanoid Control Directly from Human Egocentric Video, website
🌟arXiv 2026.03, FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid, website
arXiv 2026.03, Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery
arXiv 2026.03, MetaWorld-X: Hierarchical World Modeling via VLM-Orchestrated Experts for Humanoid Loco-Manipulation, website
arXiv 2026.03, HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
arXiv 2026.03, PhysiFlow: Physics-Aware Humanoid Whole-Body VLA via Multi-Brain Latent Flow Matching and Robust Tracking
arXiv 2026.03, Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
arXiv 2026.03, Interaction-Aware Whole-Body Control for Compliant Object Transport
arXiv 2026.03, ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation, website
RSS 2026, Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
arXiv 2026.03, Scaling Tasks, Not Samples: Mastering Humanoid Control through Multi-Task Model-Based Reinforcement Learning, website
arXiv 2026.03, Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
arXiv 2026.02, OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
arXiv 2026.02, OmniTrack: General Motion Tracking via Physics-Consistent Reference, website
arXiv 2026.02, LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations, website
arXiv 2026.02, Generalizing from References using a Multi-Task Reference and Goal-Driven RL Framework
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, AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation, website
arXiv 2026.02, Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement
arXiv 2026.02, A Kung Fu Athlete Bot That Can Do It All Day: Highly Dynamic, Balance-Challenging Motion Dataset and Autonomous Fall-Resilient Tracking
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, Flow Policy Gradients for Robot Control, website
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, Green-VLA: Staged Vision-Language-Action Model for Generalist Robots
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, Task-Centric Policy Optimization from Misaligned Motion Priors
arXiv 2026.01, MetaWorld: Skill Transfer and Composition in a Hierarchical World Model for Grounding High-Level Instructions, website
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, Learning a Unified Latent Space for Cross-Embodiment Robot Control
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 2026.01, AdaMorph: Unified Motion Retargeting via Embodiment-Aware Adaptive Transformers
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, World-Coordinate Human Motion Retargeting via SAM 3D Body
arXiv 2025.12, Asynchronous Fast-Slow Vision-Language-Action Policies for Whole-Body Robotic Manipulation
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, Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots
arXiv 2025.12, Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
arXiv 2025.12, From Generated Human Videos to Physically Plausible Robot Trajectories, website
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, CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
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, Learning to Act Through Contact: A Unified View of Multi-Task Robot 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 2025.10, Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots
arXiv 2025.09, OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
arXiv 2025.09, MoReFlow: Motion Retargeting Learning through Unsupervised Flow Matching
arXiv 2025.09, CoTaP: Compliant Task Pipeline and Reinforcement Learning of Its Controller with Compliance Modulation
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, Latent Conditioned Loco-Manipulation Using Motion Priors, website
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, Towards Human-level Intelligence via Human-like Whole-Body Manipulation
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, Realizing Text-Driven Motion Generation on NAO Robot: A Reinforcement Learning-Optimized Control Pipeline
🌟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-π: Mobilizing Your Robot Learning Policy, website
arXiv 2025.05, Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation, 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, APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots, website
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, TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control
arXiv 2025.02, Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
arXiv 2025.02, RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations, website
🌟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, STRIDE: Automating Reward Design, Deep Reinforcement Learning Training and Feedback Optimization in Humanoid Robotics Locomotion
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 2025.01, Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
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 2024.10, E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework
arXiv 2024.10, Preferenced Oracle Guided Multi-mode Policies for Dynamic Bipedal Loco-Manipulation
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 2024.08, Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots website
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 2026.10, Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment
arXiv 2026.10, AutodidactWAM: Cross-Modal Self-Distillation from Generated Video to Robot Actions
arXiv 2026.10, MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation, website
arXiv 2026.09, IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining, website
arXiv 2026.09, Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies
arXiv 2026.09, XPACE: Joint World and Action Modeling from Heterogeneous Experience
arXiv 2026.09, How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026
arXiv 2026.08, AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization, website
arXiv 2026.08, EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control
arXiv 2026.08, Policy-Induced Hand Priors in Humanoid Dual-Arm Manipulation: Diagnosing and Mitigating Initial-Pose Dependence
arXiv 2026.07, CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning
arXiv 2026.07, Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids
arXiv 2026.07, AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning
arXiv 2026.06, Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments, website
arXiv 2026.06, RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
arXiv 2026.06, ROVE: Unlocking Human Interventions for Humanoid Manipulation via Reinforcement Learning
arXiv 2026.06, Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models
arXiv 2026.06, Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs
arXiv 2026.06, Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data, website
arXiv 2026.05, Gaze2Act: Gaze-Conditioned Vision-Language-Action Policies for Interactive Robot Manipulation, website
arXiv 2026.05, RLDX-1 Technical Report, website
arXiv 2026.04, A Rapid Deployment Pipeline for Autonomous Humanoid Grasping Based on Foundation Models
arXiv 2026.04, Learning Versatile Humanoid Manipulation with Touch Dreaming
arXiv 2026.03, DIAL: Decoupling Intent and Action via Latent World Modeling for End-to-End VLA, website
arXiv 2026.03, Active Stereo-Camera Outperforms Multi-Sensor Setup in ACT Imitation Learning for Humanoid Manipulation
🌟arXiv 2026.03, HumDex: Humanoid Dexterous Manipulation Made Easy
🌟ICRA 2026, Multifingered force-aware control for humanoid robots
arXiv 2026.03, cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
arXiv 2026.03, OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception
arXiv 2026.02, Task-oriented grasping for dexterous robots using postural synergies and reinforcement learning
arXiv 2026.02, DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos, website
arXiv 2026.02, Act, Sense, Act: Learning Active Perception from Large-Scale Egocentric Human Data
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 2025.12, Modality-Augmented Fine-Tuning of Foundation Robot Policies for Cross-Embodiment Manipulation on GR1 and G1
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, DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos, website
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 2025.06, mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity
Humanoids 2025, Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning, website
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, OminiAdapt: Learning Cross-Task Invariance for Robust and Environment-Aware Robotic Manipulation
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 2025.03, High-Precision Transformer-Based Visual Servoing for Humanoid Robots in Aligning Tiny Objects, website
arXiv 2025.03, Unified Video Action Model, website
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 2026.10, Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives
IROS 2026 Workshop, Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study
arXiv 2026.09, NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation, website
arXiv 2026.09, GAE: General Action Expert for Real-Time Humanoid Teleoperation, website
arXiv 2026.09, MATE: Multi-Agent Virtual Teleoperation Platform for Humanoid Collaboration Data Collection, website
arXiv 2026.09, Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation
arXiv 2026.09, SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation
arXiv 2026.08, Teleopit: A Full-Embodiment Humanoid Teleoperation System, website
arXiv 2026.07, Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination
Humanoids 2025, Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning
arXiv 2026.07, Immersive Social Interaction with VR and LLM-Assisted Humanoids
arXiv 2026.07, HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum, website
arXiv 2026.06, WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning, website
arXiv 2026.06, X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting
🌟arXiv 2026.06, Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking, code
arXiv 2026.05, Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation
arXiv 2026.05, Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation
arXiv 2026.05, BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
arXiv 2026.04, Leveraging VR Robot Games to Facilitate Data Collection for Embodied Intelligence Tasks
arXiv 2026.03, MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
arXiv 2026.03, OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System, website
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 2025.12, CaFe-TeleVision: A Coarse-to-Fine Teleoperation System with Immersive Situated Visualization for Enhanced Ergonomics, website
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
Humanoids 2025, Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
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 2024.11, Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
arXiv 2024.11, Mixed Reality Teleoperation Assistance for Direct Control of Humanoids
🌟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
🌟ECCV 2024, EgoPoser: Robust Real-Time Egocentric Pose Estimation from Sparse and Intermittent Observations Everywhere, website / code
🌟ECCV 2022, AvatarPoser: Articulated Full-Body Pose Tracking from Sparse Motion Sensing, website / code
🌟IROS 2020, A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU, website / code

Locomotion

arXiv 2026.10, DAMP: Humanoid Locomotion via Denoised Belief Learning and Adversarial Motion Priors
arXiv 2026.10, HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion
arXiv 2026.10, QF3: Fast Flow RL with Filtered Q-Gradients, website
arXiv 2026.10, Reactive Humanoid Multi-Contact Using Learned Stability Models
arXiv 2026.09, Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion
IROS 2026, Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction
arXiv 2026.09, Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators, website
arXiv 2026.09, Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory
arXiv 2026.09, TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion
IROS 2026, Learning Expressive Humanoid Locomotion from Monocular Runway Videos for Robot Fashion Shows
arXiv 2026.09, Humanoid Locomotion with a Fly-Inspired Recurrent Controller
arXiv 2026.09, Smoothness as a Constraint for Stable Humanoid Locomotion
arXiv 2026.09, UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains
arXiv 2026.09, FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
arXiv 2026.09, Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations
arXiv 2026.09, Learning Slope-Adaptive Whole-Body Locomotion for Humanoid Robots in Roofing Construction
NAECON 2026, Loco-Loco-RL: Low-Cost Terrain Mapping for Humanoid Locomotion with Reinforcement Learning
arXiv 2026.09, PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments
arXiv 2026.09, Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning
arXiv 2026.09, EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion
arXiv 2026.09, DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal
CoRL 2026, CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising
arXiv 2026.09, GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media, website
CoRL 2026, SwingBot: Learning Whole-Body Brachiation for Humanoid Robots
arXiv 2026.09, RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models
arXiv 2026.09, World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain
arXiv 2026.09, Humanoid Safe Stop via Learned Stoppability Value
arXiv 2026.08, Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
arXiv 2026.08, Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters
arXiv 2026.08, SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion, website
AIR-RES 2026, Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
arXiv 2026.08, Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface
arXiv 2026.08, Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards
arXiv 2026.08, MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces
arXiv 2026.08, Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion
arXiv 2026.08, Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
arXiv 2026.08, Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation, website
🌟arXiv 2026.07, P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning
arXiv 2026.07, Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation
arXiv 2026.07, Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing
arXiv 2026.07, GaitSpan: Growing Humanoid Locomotion from Walking to Running, website
CLAWAR 2026, Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors
arXiv 2026.07, Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
arXiv 2026.07, ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
IROS 2026, Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot
🌟arXiv 2026.06, FastDSAC: Enhancing Policy Plasticity via Constrained Exploration for Scalable Humanoid Locomotion
arXiv 2026.06, Booster Lab: A Data-Centric Pipeline for Learning Deployable Humanoid Locomotion Policies
arXiv 2026.06, TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion, website
arXiv 2026.06, Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes
arXiv 2026.06, ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
arXiv 2026.06, GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains, website
arXiv 2026.06, MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds
arXiv 2026.06, UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains, website
RSS 2026, Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
arXiv 2026.06, Predictive Style Matching: Natural and Robust Humanoid Locomotion
arXiv 2026.06, T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion
arXiv 2026.06, TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
arXiv 2026.06, CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
arXiv 2026.06, Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
arXiv 2026.05, SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
arXiv 2026.05, SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints, website
arXiv 2026.05, ParkourFormer: Integrating Predictive Supervision and Sequence Modeling into Parkour Locomotion, website
arXiv 2026.05, MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
arXiv 2026.05, Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
arXiv 2026.05, Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
arXiv 2026.05, Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
arXiv 2026.05, Stability of Control Lyapunov Function Guided Reinforcement Learning
RSS 2026, asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics, website
arXiv 2026.04, QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear
arXiv 2026.04, RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots
arXiv 2026.04, Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
arXiv 2026.04, Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior
arXiv 2026.04, Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
arXiv 2026.04, Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
arXiv 2026.03, CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
arXiv 2026.03, Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
arXiv 2026.03, Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
arXiv 2026.03, PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learning
arXiv 2026.03, Learning Safe-Stoppability Monitors for Humanoid Robots
arXiv 2026.03, Evaluating Factor-Wise Auxiliary Dynamics Supervision for Latent Structure and Robustness in Simulated Humanoid Locomotion
arXiv 2026.03, PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors, website
arXiv 2026.03, ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal
arXiv 2026.03, Task-Specified Compliance Bounds for Humanoids via Lipschitz-Constrained Policies
arXiv 2026.03, Load-Aware Locomotion Control for Humanoid Robots in Industrial Transportation Tasks
IROS 2026, SCDP: Learning Humanoid Locomotion from Partial Observations via Mixed-Observation Distillation
arXiv 2026.03, Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping
arXiv 2026.03, GeoLoco: Leveraging 3D Geometric Priors from Visual Foundation Model for Robust RGB-Only Humanoid Locomotion
arXiv 2026.03, Learning From Failures: Efficient Reinforcement Learning Control with Episodic Memory
arXiv 2026.03, Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality
RSS 2026, X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation, website
ICRA 2026, CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
arXiv 2026.02, Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
ICRA 2026, PMG: Parameterized Motion Generator for Human-like Locomotion Control, website
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, website / code
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, TOLEBI: Learning Fault-Tolerant Bipedal Locomotion via Online Status Estimation and Fallibility Rewards
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, Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision
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 2026.01, Locomotion Beyond Feet, website
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 Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
arXiv 2025.12, Sim2Real Reinforcement Learning for Soccer skills
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, Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learning, website
arXiv 2025.12, A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs
arXiv 2025.11, Reference-Free Sampling-Based Model Predictive Control
arXiv 2025.11, Human Imitated Bipedal Locomotion with Frequency Based Gait Generator Network
arXiv 2025.11, Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches
arXiv 2025.10, Learning a Vision-Based Footstep Planner for Hierarchical Walking 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, NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning, website
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, RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
arXiv 2025.09, HuMam: Humanoid Motion Control via End-to-End Deep RL with Mamba
arXiv 2025.09, LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
arXiv 2025.09, Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
arXiv 2025.09, Multi-Embodiment Locomotion at Scale with extreme Embodiment Randomization
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, No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
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, CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
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, Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
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, Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
arXiv 2025.07, Evaluating Robots Like Human Infants: A Case Study of Learned Bipedal Locomotion
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, Attention-Based Map Encoding for Learning Generalized Legged 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, AURA: Autonomous Upskilling with Retrieval-Augmented Agents, website
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
Humanoids 2025, Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
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
IROS 2025, Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain
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 H

awesome-humanoid-robot-learning

Awesome-Humanoid-Robot-Learning

Loco-Manipulation and Whole-Body-Control

Manipulation

Teleoperation

Locomotion