📚 Humanoid Robot Learning Paper Notebooks

📄 Foundational RL (15)

Foundational RL theory and classic algorithms — essential prerequisites for understanding subsequent research

Paper tags ordered by recommended learning path

• Proximal Policy Optimization Algorithms (PPO) Jul 20, 2017 (arXiv) ⭐️
• Advantage Weighted Regression (AWR) Sep 30, 2019 (arXiv) ⭐️
• DeepMimic: Example-Guided Deep RL of Physics-Based Character Skills Apr 8, 2018 (arXiv), SIGGRAPH 2018 ⭐️
• AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control Apr 5, 2021 (arXiv), SIGGRAPH 2021 ⭐️
• PHC: Perpetual Humanoid Control for Real-time Simulated Avatars May 10, 2023 (arXiv), ICCV 2023 ⭐️
• ADD: Adversarial Disentanglement and Distillation May 8, 2025 (arXiv), SIGGRAPH Asia 2025 ⭐️
• ASE: Adversarial Skill Embeddings for Large-Scale Motion Control May 4, 2022 (arXiv), SIGGRAPH 2022 (ACM TOG) ⭐️
• CALM: Conditional Adversarial Latent Models for Directable Virtual Characters May 2, 2023 (arXiv), SIGGRAPH 2023 ⭐️
• PULSE: Universal Humanoid Motion Representations for Physics-Based Control Oct 2023 (arXiv), May 2024 (ICLR) ⭐️
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Mar 2023 (arXiv), RSS 2023 ⭐️
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion Aug 2025 (arXiv) ⭐️
• Understanding Domain Randomization for Sim-to-real Transfer Oct 2021 (v1), Mar 2022 (v2) (arXiv)
• Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Mar 2017 (arXiv) ⭐️
• Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies (LCP) Oct 15, 2024 (arXiv) ⭐️
• MimicKit: A Reinforcement Learning Framework for Motion Imitation and Control Oct 15, 2025 initial release; v4 Jan 18, 2026 (arXiv) ⭐️

🎯 Motion Retargeting (4)

Bridging human motion data and humanoid policies — geometric IK, learned retargeting, and the engineering choices that determine downstream policy quality

Paper tags ordered by arXiv date, oldest first

• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction Sep 2025 (arXiv) ⭐️
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking Oct 2025 (arXiv) ⭐️
• Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control Mar 2026 (arXiv)
• ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting May 2026 (arXiv)

📄 High Impact Selection (23)

Curated high-impact and milestone papers in humanoid robot learning

Paper tags ordered by publication date, oldest first (same within subcategories)

🦾 Loco-Manipulation and WBC (63)

Paper tags ordered by arXiv date, newest first

• SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation Jun 2026
• SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework May 2026 ⭐️
• Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control Mar 2026
• SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating Mar 2026
• LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data Mar 2026 (arXiv) ⭐️
• Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation Mar 2026 (arXiv) ⭐️
• SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning Mar 2026 (arXiv) ⭐️
• ZeroWBC: Learning Natural Visuomotor Humanoid Control Directly from Human Egocentric Video Mar 2026 (arXiv)
• Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery Mar 9, 2026 (arXiv)
• ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation Mar 3, 2026 (arXiv)
• OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control Feb 27, 2026 (arXiv) ⭐️
• LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations Feb 25, 2026 (arXiv)
• HERO: Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation Feb 2026 (arXiv)
• VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety Feb 2026 (arXiv)
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching Feb 17, 2026 (arXiv)
• MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction Feb 17, 2026 (arXiv)
• Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement Feb 2026
• General Humanoid Whole-Body Control via Pretraining and Fast Adaptation Feb 12, 2026 (arXiv) ⭐️
• HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model Feb 12, 2026 (arXiv) ⭐️
• EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration Feb 10, 2026 (arXiv) ⭐️
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation Feb 9, 2026 (arXiv) ⭐️
• Learning Human-Like Badminton Skills for Humanoid Robots Feb 9, 2026 (arXiv)
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control Feb 7, 2026 (arXiv) ⭐️
• DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization Feb 2026
• Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations Feb 6, 2026 (arXiv)
• HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation Feb 6, 2026 (arXiv)
• Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework Feb 5, 2026 (arXiv) ⭐️
• PDF-HR: Pose Distance Fields for Humanoid Robots Feb 4, 2026 (arXiv) ⭐️
• HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control Feb 3, 2026 (arXiv) ⭐️
• Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control Feb 3, 2026 (arXiv)
• HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos Feb 2, 2026 (arXiv) ⭐️
• TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour Feb 2, 2026 (arXiv)
• ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control Jan 30, 2026 (arXiv)
• Robust and Generalized Humanoid Motion Tracking Jan 30, 2026 (arXiv)
• RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing Jan 30, 2026 (arXiv) ⭐️
• PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes Jan 24, 2026 (arXiv)
• Collision-Free Humanoid Traversal in Cluttered Indoor Scenes Jan 22, 2026 (arXiv) ⭐️
• FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions Jan 2026
• Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations Jan 2026
• Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids Jan 2026
• Deep Whole-body Parkour Jan 2026
• Coordinated Humanoid Manipulation with Choice Policies Dec 2025
• UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots Dec 2025
• EGM: Efficiently Learning General Motion Tracking Policy for High Dynamic Humanoid Whole-Body Control Dec 2025
• Semantic Co-Speech Gesture Synthesis and Real-Time Control for Humanoid Robots Dec 19, 2025 (arXiv)
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation Dec 2025
• PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations Dec 2025 (v1)/ Mar 2026 (v2)
• Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input Dec 2025
• Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning Dec 2025
• Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer Nov 2025
• Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary Nov 2025
• Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation Nov 2025
• SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control Nov 2025
• SafeFall: Learning Protective Control for Humanoid Robots Nov 2025
• Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data Nov 2025
• VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation Nov 2025
• HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation Nov 2025
• Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning Nov 2025
• Robot Crash Course: Learning Soft and Stylized Falling Nov 2025
• Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots Nov 2025
• Unified Humanoid Fall-Safety Policy from a Few Demonstrations Nov 2025
• Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning Nov 2025
• GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction Nov 6, 2025 (arXiv) ⭐️

🦾 Manipulation (47)

Paper tags ordered by arXiv date, newest first

• Visual-tactile pretraining and online multitask learning for humanlike manipulation dexterity Jan 28, 2026 (Science Robotics)
• HumDex: Humanoid Dexterous Manipulation Made Easy Mar 12, 2026 (arXiv) ⭐️
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots Mar 5, 2026 (arXiv) ⭐️
• DreamZero: World Action Models are Zero-shot Policies Feb 17, 2026 (arXiv) ⭐️
• DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos Feb 6, 2026 (arXiv) ⭐️
• A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation Feb 2026
• HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation Jan 21, 2026 (arXiv), HRI 2026 Companion · ACM DOI 10.1145/3776734.3794528
• Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation Jan 13, 2026 (arXiv) ⭐️
• DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation Jan 9, 2026 (arXiv) ⭐️
• Genie Sim 3.0: A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot Jan 5, 2026 (arXiv, v2 revised Apr 28, 2026) ⭐️
• SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot Nov 28, 2025 (arXiv)
• Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations Nov 2025
• In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data Nov 2025
• RGMP: Recurrent Geometric-prior Multimodal Policy for Generalizable Humanoid Robot Manipulation Nov 2025 (v1)· Dec 2025 revised (v2)· AAAI 2026 ⭐️
• Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields Nov 2025
• EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations Nov 2025
• Endowing GPT-4 with a Humanoid Body: Building the Bridge Between Off-the-Shelf VLMs and the Physical World Nov 2025
• A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation Oct 2025
• Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots Oct 2025
• ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations Oct 2025
• EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation Sep 2025
• Residual Off-Policy RL for Finetuning Behavior Cloning Policies Sep 2025
• MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos Sep 2025
• Masquerade: Learning from In-the-wild Human Videos using Data-Editing Aug 2025
• TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots Aug 2025
• H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation Jul 2025
• Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos Jul 2025
• EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos Jul 16, 2025 (arXiv v1, v3 Jul 18, 2025) ⭐️
• Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming Jul 2025
• Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Jun 2025
• Vision in Action: Learning Active Perception from Human Demonstrations Jun 2025
• DreamGen: Unlocking Generalization in Robot Learning through Video World Models May 2025
• EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video May 2025 ⭐️
• Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Mar 2025
• Humanoid Policy ~ Human Policy Mar 2025
• Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions Mar 2025
• Unified Video Action Model Feb 2025
• Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm Feb 2025
• MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data Jan 2025
• ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition Dec 2024
• Object-Centric Dexterous Manipulation from Human Motion Data Nov 2024
• DexHub and DART: Towards Internet Scale Robot Data Collection Nov 2024
• Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck Nov 2024
• EgoMimic: Scaling Imitation Learning via Egocentric Video Oct 2024 (arXiv) ⭐️
• Learning to Look: Seeking Information for Decision Making via Policy Factorization Oct 2024
• OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation Oct 2024
• Learning Visuotactile Skills with Two Multifingered Hands Apr 2024

🎮 Teleoperation (24)

Paper tags ordered by arXiv date, newest first

• HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Jul 2, 2026 (arXiv)
• Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking Jun 2026 (arXiv)· CVPR 2026 ⭐️
• CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation Feb 13, 2026 (arXiv) ⭐️
• ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control Feb 11, 2026 (arXiv) ⭐️
• TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior Feb 10, 2026 (arXiv)
• SEW-Mimic: A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation Feb 2, 2026 (arXiv)
• Learning Adaptive Neural Teleoperation for Humanoid Robots: From Inverse Kinematics to End-to-End Control Nov 15, 2025 (arXiv)
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System Nov 2025
• Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots Oct 15, 2025 (arXiv)
• Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation Oct 5, 2025 (arXiv)
• LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy Oct 3, 2025 (arXiv v1; v2 Feb 16, 2026)
• Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation Aug 2025
• CHILD: a Whole-Body Humanoid Teleoperation System Aug 2025
• CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks Jun 10, 2025 (arXiv) ⭐️
• Heavy lifting tasks via haptic teleoperation of a wheeled humanoid May 2025
• TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation May 2025
• Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots with Torso-Arm Coordination May 2025
• TWIST: Teleoperated Whole-Body Imitation System May 2025
• NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots Mar 2025
• Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control Dec 2024
• High-Speed and Impact Resilient Teleoperation of Humanoid Robots Sep 2024
• ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation Aug 2024
• Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning Jul 2024
• HumanPlus: Humanoid Shadowing and Imitation from Humans Jun 2024 (arXiv) ⭐️

🦿 Locomotion (14)

Paper tags ordered by arXiv date, newest first

• Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits Feb 25, 2026 (arXiv) ⭐️
• APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots Feb 11, 2026 (arXiv)
• Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels Feb 6, 2026 (arXiv) ⭐️
• A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion Feb 5, 2026 (arXiv), VDI Mechatronics Conference 2026
• Scalable and General Whole-Body Control for Cross-Humanoid Locomotion (XHugWBC) Feb 5, 2026 (arXiv)
• HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation Feb 4, 2026 (arXiv) ⭐️
• CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains Feb 3, 2026 (arXiv)
• RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains Feb 3, 2026 (arXiv)
• Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion Jan 2026
• FastStair: Learning to Run Up Stairs with Humanoid Robots Jan 15, 2026 (arXiv)
• Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds Jan 9, 2026 (arXiv)
• Extreme Parkour with Legged Robots Sep 2023 (arXiv) ⭐️
• ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots Jun 2023 (arXiv)
• Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Sep 2021 (arXiv) ⭐️

🧭 Navigation (19)

Paper tags ordered by arXiv date, newest first

• DA-Nav: Direction-Aware City-Scale Vision-Language Navigation Jul 13, 2026 (arXiv v1)
• GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains Jun 9, 2026 (arXiv v1, v2 Jun 13, 2026)
• EgoNav: Learning Humanoid Navigation from Human Data Apr 1, 2026 (arXiv)
• EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models Feb 4, 2026 (arXiv) ⭐️
• FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation Jan 19, 2026 (arXiv)
• Thinking in 360°: Humanoid Visual Search in the Wild Nov 25, 2025 (arXiv) ⭐️
• Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains Nov 18, 2025 (arXiv) ⭐️
• Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications Oct 2025
• Quantum deep reinforcement learning for humanoid robot navigation task Sep 14, 2025 (arXiv)
• LookOut: Real-World Humanoid Egocentric Navigation Aug 20, 2025 (arXiv), ICCV 2025 (CVF open access)
• INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM Aug 6, 2025 (arXiv)
• Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching Aug 2025
• Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots Jul 2025
• LOVON: Legged Open-Vocabulary Object Navigator Jul 9, 2025 (arXiv) ⭐️
• Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation Jun 2025
• STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain Jun 1, 2025 (arXiv) ⭐️
• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance May 2025
• HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots Mar 12, 2025 (arXiv v1)
• NaVILA: Legged Robot Vision-Language-Action Model for Navigation Dec 2024 (arXiv)

📡 State Estimation (9)

Paper tags ordered by arXiv date, newest first

• Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground Jun 17, 2026 (arXiv v1)
• GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens Jun 12, 2026 (arXiv)
• AutoOdom: Learning Auto-regressive Proprioceptive Odometry for Legged Locomotion Nov 24, 2025 (arXiv)
• InEKFormer: A Hybrid State Estimator for Humanoid Robots Nov 20, 2025 (arXiv)
• Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots Jul 14, 2025 (arXiv) ⭐️
• An Empirical Evaluation of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems Jul 14, 2022 (arXiv)
• Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation Jun 2018 (RSS 2018), Apr 19, 2019 (arXiv)
• Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors Dec 15, 2017 (arXiv) ⭐️
• The Invariant Extended Kalman Filter as a Stable Observer Oct 6, 2014 (arXiv v1), 2017 正式发表 (IEEE TAC) ⭐️

🔄 Sim-to-Real (12)

Core theory and algorithms are under 01 Foundational RL (Domain Randomization, LCP). This category will host Sim-to-Real-specific works (Real-to-Sim, ADR, Privileged Learning, etc.).

Paper tags ordered by arXiv date, newest first

• FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control Jun 26, 2026 (arXiv v1)
• Simulator Adaptation for Sim-to-Real Learning of Legged Locomotion via Proprioceptive Distribution Matching Apr 13, 2026 (arXiv v1)
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation Feb 9, 2026 (arXiv v1)· Feb 11, 2026 (v2) ⭐️
• RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Robots Feb 2, 2026 (arXiv)
• LIFT: Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control Jan 29, 2026 (arXiv) ⭐️
• PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization Oct 2, 2025 (arXiv) ⭐️
• Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotion Sep 16, 2025 (arXiv)
• Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots（PACE） Sep 8, 2025 (arXiv) ⭐️
• Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids Aug 17, 2025 (arXiv v1), CoRL 2025 录用 ⭐️
• DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control May 2025
• Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning May 20, 2025 (arXiv) ⭐️
• Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Apr 9, 2025 (arXiv v1)

🔧 Hardware Design (10)

Paper tags ordered by arXiv date, newest first

• MCR-Bionic Hand: Anatomical Structural Priors for Dexterous Manipulation Jun 11, 2026 (arXiv)
• Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids Feb 9, 2026 (arXiv)
• Fauna Sprout: A lightweight, approachable, developer-ready humanoid robot Jan 26, 2026 (arXiv)
• Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand Dec 31, 2025 (arXiv)
• Olaf: Bringing an Animated Character to Life in the Physical World Dec 18, 2025 (arXiv)
• OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer Dec 9, 2025 (arXiv) ⭐️
• DIJIT: A Robotic Head for an Active Observer Dec 8, 2025 (arXiv)
• DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion Nov 13, 2025 (arXiv) ⭐️
• Human-Level Actuation for Humanoids Nov 10, 2025 (arXiv)
• Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery Oct 25, 2025 (arXiv v1); Nov 5, 2025 (v2)

🖥️ Simulation Benchmark (22)

Paper tags ordered by arXiv date, newest first

• ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations Jul 7, 2026 (arXiv)
• Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory Jun 30, 2026 (arXiv v1)/ Jul 1, 2026 (v2)
• SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation Jun 6, 2026 (arXiv) ⭐️
• GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors Jun 3, 2026 (arXiv v1) ⭐️
• ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control Mar 12, 2026 (arXiv, Mar 14, 2026 revised) ⭐️
• Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots Mar 6, 2026 (arXiv)
• RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots Mar 2026
• MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation Feb 11, 2026 (arXiv) ⭐️
• Benchmarking Humanoid Imitation Learning with Motion Difficulty Dec 8, 2025 (arXiv)
• Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation Oct 9, 2025 (arXiv) ⭐️
• Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report Oct 8, 2025 (arXiv) ⭐️
• HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning Jul 2025
• DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning Jun 2025
• Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics Jun 2025
• Humanoid World Models: Open World Foundation Models for Humanoid Robotics Jun 2025
• Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Dec 2024
• ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks Dec 2024
• DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Oct 2024
• GRUtopia: Dream General Robots in a City at Scale Jul 15, 2024 (arXiv) ⭐️
• BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark Jul 2024
• RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Jun 2024
• HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Mar 2024 (arXiv) ⭐️

🎬 Physics-Based Animation (9)

Paper tags ordered by arXiv date, newest first

• BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models Jun 23, 2026 (arXiv v1)
• Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control Feb 25, 2026 (arXiv)
• InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions Feb 5, 2026 (arXiv)
• CRISP: Contact-Guided Real2Sim from Monocular Video with Planar Scene Primitives Dec 16, 2025 (arXiv) ⭐️
• Mimic2DM: Generating and Mimicking 2D Motions for 3D Character Control Dec 9, 2025 (arXiv) ⭐️
• PhysHMR: Learning Humanoid Control Policies from Vision for Physically Plausible Human Motion Reconstruction Oct 2, 2025 (arXiv), SIGGRAPH Asia 2025 (ACM DOI 10.1145/3757377.3763951) ⭐️
• Learning to Ball: Composing Policies for Long-Horizon Basketball Moves Sep 26, 2025 (arXiv) ⭐️
• RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking Sep 25, 2025 (arXiv)
• Spatial Relationship Preserving Character Motion Adaptation 2010 (SIGGRAPH 2010 / ACM TOG 29 (4))

🏃 Human Motion (29)

Paper tags ordered by arXiv date, newest first

• Kimodo: Scaling Controllable Human Motion Generation Mar 2026 ⭐️
• EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agents Feb 26, 2026 (arXiv), CVPR 2026 (per repository README) ⭐️
• WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos Feb 2026 (arXiv)
• MAGNet: Diffusion Forcing for Multi-Agent Interaction Sequence Modeling Dec 2025 (v1)· Mar 2026 (v2 revised) (arXiv) ⭐️
• Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction Nov 30, 2025 ⭐️
• Being-M0.5: A Real-Time Controllable Vision-Language-Motion Model Aug 2025
• Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data Jul 2025
• GENMO: A Generalist Model for Human Motion May 2025 (arXiv v1：May 2, 2025)
• PICO: Reconstructing 3D People In Contact with Objects Apr 2025
• HUMOTO: A 4D Dataset of Mocap Human Object Interactions Apr 2025 (arXiv v1：Apr 14, 2025; v2：Oct 15, 2025)· ICCV 2025 ⭐️
• FRAME: Floor-aligned Representation for Avatar Motion from Egocentric Video Mar 2025
• ClimbingCap: Multi-Modal Dataset and Method for Rock Climbing in World Coordinate Mar 2025
• PRIMAL: Physically Reactive and Interactive Motor Model for Avatar Learning Mar 2025
• Scaling Large Motion Models with Million-Level Human Motions Oct 2024
• Flexible Motion In-betweening with Diffusion Models May 2024
• Taming Diffusion Probabilistic Models for Character Control Apr 2024
• OmniControl: Control Any Joint at Any Time for Human Motion Generation Oct 2023 (ICLR 2024) ⭐️
• EgoPoser: Robust Real-Time Egocentric Pose Estimation from Sparse and Intermittent Observations Everywhere Aug 2023 (ECCV 2024)
• TEDi: Temporally-Entangled Diffusion for Long-Term Motion Synthesis Jul 2023
• Example-based Motion Synthesis via Generative Motion Matching Jun 2023
• Guided Motion Diffusion for Controllable Human Motion Synthesis May 2023
• PhysDiff: Physics-Guided Human Motion Diffusion Model Dec 2022
• Learned Motion Matching Sep 29, 2022 (arXiv), ACM SIGGRAPH 2020 (ACM TOG, Vol. 39, No. 4, Article 53) ⭐️
• AvatarPoser: Articulated Full-Body Pose Tracking from Sparse Motion Sensing Jul 2022 (ECCV 2022)
• Generating Diverse and Natural 3D Human Motions from Textual Descriptions Apr 2022 (arXiv) ⭐️
• Control Operators for Interactive Character Animation Dec 2025 (SIGGRAPH Asia 2025, Hong Kong, Dec 15–18) ⭐️
• Implicit Bézier Motion Model for Precise Spatial and Temporal Control Dec 2025 (SIGGRAPH MIG 2025)
• Climber Force and Motion Estimation from Video Apr 2025 (arXiv, 详见项目页)
• MANIKIN: Biomechanically Accurate Neural Inverse Kinematics for Human Motion Estimation 2024 (ECCV 2024)