📚 Robot Learning Paper Notebooks
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Foundational RL (17)
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) ⭐️
- SMP: Reusable Score-Matching Motion Priors for Physics-Based Character Control Dec 2, 2025 (arXiv), SIGGRAPH 2026 (ACM TOG) ⭐️
- Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Mar 2017 (arXiv) ⭐️
- Understanding Domain Randomization for Sim-to-real Transfer Oct 2021 (v1), Mar 2022 (v2) (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) ⭐️
- Attention Is All You Need (Transformer) Jun 12, 2017 (arXiv v1), NIPS 2017 ⭐️
Motion Retargeting (5)
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 7, 2026 (arXiv v1)
- Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence Sep 2, 2026 (arXiv v1) ⭐️
High Impact Selection (35)
Curated high-impact and milestone papers in humanoid robot learning
Paper tags ordered by publication date, oldest first (same within subcategories)
Whole-Body Control Core (7)
Paper tags ordered by publication date, oldest first
- Expressive Whole-Body Control for Humanoid Robots Feb 26, 2024 (arXiv), RSS 2024 ⭐️
- MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting Sep 22, 2024 ⭐️
- HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Oct 28, 2024 (arXiv), ICRA 2025 ⭐️
- ExBody2: Advanced Expressive Humanoid Whole-Body Control Dec 17, 2024 (arXiv)
- UH-1: Learning from Massive Human Videos for Universal Humanoid Pose Control Dec 18, 2024 (arXiv) ⭐️
- HugWBC: A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion Feb 5, 2025 (arXiv), RSS 2025 ⭐️
- SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control Nov 11, 2025 (arXiv) ⭐️
Teleoperation & Imitation Learning (5)
Paper tags ordered by publication date, oldest first
- ACT: Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware Apr 23, 2023 (arXiv)
- Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation Mar 7, 2024 ⭐️
- OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Jun 13, 2024 (arXiv); CoRL 2024 ⭐️
- iDP3: Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies Oct 14, 2024 (arXiv), IROS 2025 ⭐️
- HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit Feb 18, 2025 (arXiv), RSS 2025 ⭐️
Locomotion Classics (6)
Paper tags ordered by publication date, oldest first
- Learning Quadrupedal Locomotion over Challenging Terrain Oct 21, 2020 ⭐️
- Real-World Humanoid Locomotion with Reinforcement Learning Mar 2023 (arXiv), 2024 Science Robotics
- Humanoid Locomotion as Next Token Prediction Feb 29, 2024 (arXiv)
- Humanoid Parkour Learning Jun 15, 2024 (arXiv) ⭐️
- Learning Sim-to-Real Humanoid Locomotion in 15 Minutes Dec 1, 2025 (arXiv) ⭐️
- ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking Feb 6, 2026 (arXiv) ⭐️
Sim-to-Real & Foundation Model (13)
Paper tags ordered by publication date, oldest first
- Learning Agile and Dynamic Motor Skills for Legged Robots Jan 24, 2019 (arXiv) ⭐️
- Dream to Control: Learning Behaviors by Latent Imagination Dreamer Dec 3, 2019; PlaNet Nov 12, 2018 ⭐️
- Learning Universal Policies via Text-Guided Video Generation Jan 31, 2023 ⭐️
- Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Apr 26, 2023 (arXiv v1), Science Robotics 2024
- OpenVLA: An Open-Source Vision-Language-Action Model Jun 13, 2024 (arXiv)
- π0: A Vision-Language-Action Flow Model for General Robot Control Oct 31, 2024 (arXiv v1) ⭐️
- Cosmos World Foundation Model Platform for Physical AI ⭐️
- ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Feb 3, 2025 (arXiv), Robotics: Science and Systems (RSS) 2025 ⭐️
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Mar 2025 (arXiv) ⭐️
- π0.5: a Vision-Language-Action Model with Open-World Generalization Apr 22, 2025 (arXiv v1) ⭐️
- Behavior Foundation Model for Humanoid Robots Sep 17, 2025 (arXiv)
- Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning Jan 22, 2026 ⭐️
- Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain Jun 6, 2026 (arXiv v1), CoRL 2026 ⭐️
Simulation Platform & Tools (4)
Paper tags ordered by publication date, oldest first
- Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Apr 8, 2024 (arXiv) ⭐️
- BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Mar 7, 2025 (arXiv), CoRL 2025 ⭐️
- Isaac Lab: Unified GPU Simulation Platform for Robot Learning Sep 2025 research page; evolved from the Orbit / Isaac Gym ecosystem ⭐️
- ProtoMotions3: An Open-source Framework for Humanoid Simulation and Control Dec 2, 2025 (GitHub v3 release) ⭐️
Loco-Manipulation and WBC (72)
Paper tags ordered by arXiv date, newest first
- GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction Aug 18, 2026 (arXiv v1)
- 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)
- FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid Mar 9, 2026 (arXiv v1) ⭐️
- 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 v1), RSS 2026
- 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
- HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments 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) ⭐️
- BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning Nov 6, 2025 (arXiv v1) ⭐️
- Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots Nov 2025 (arXiv v1)· Aug 2026 (v2)
- Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments Oct 30, 2025 (arXiv v1)
- HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos Sep 20, 2025 ⭐️
- H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies May 23, 2025 (arXiv) ⭐️
- FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation May 10, 2025 ⭐️
Manipulation (55)
Paper tags ordered by arXiv date, newest first
- Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment Oct 7, 2026 (arXiv v1)
- Blind Dexterity: Whole-Body Humanoid Manipulation via Pure Proprioception Aug 30, 2026 (v1)
- AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization Aug 29, 2026 (v1) / Sep 1, 2026 (v2) ⭐️
- RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience Aug 19, 2026 (arXiv 首发)
- RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation Jun 2026 (IEEE RA-L 投稿)
- 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
- Learning to Grasp Anything by Playing with Random Toys Oct 14, 2025 (arXiv v1)· Apr 5, 2026 revised (v2)· ICLR 2026
- Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation Oct 9, 2025 (arXiv v1)/ Jul 4, 2026 (v3) ⭐️
- 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
- DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation May 28, 2025 (v1) ⭐️
- 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 (32)
Paper tags ordered by arXiv date, newest first
- Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives Oct 6, 2026 (arXiv v1)
- Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation Sep 16, 2026 (arXiv v1)
- Teleopit: A Full-Embodiment Humanoid Teleoperation System Aug 3, 2026 (arXiv) ⭐️
- Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination Jul 2026 (arXiv v1, Jul 31, 2026)
- Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning Jul 2026 (arXiv)· Humanoids 2025 (IEEE-RAS, pp. 1233–1240, DOI 10.1109/Humanoids65713.2025.11264861)
- HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Jul 2, 2026 (arXiv)
- X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting Jun 6, 2026 (arXiv v1)
- 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
- Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Jul 1, 2024 (v1) ⭐️
- HumanPlus: Humanoid Shadowing and Imitation from Humans Jun 2024 (arXiv) ⭐️
- Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation (TRILL) Sep 2023 (arXiv v1, Sep 5, 2023)· v2 Nov 19, 2023 · IEEE-RAS Humanoids 2023 (最佳论文奖入围 · WBC 技术委员会) ⭐️
Locomotion (22)
Paper tags ordered by arXiv date, newest first
- Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion Aug 16, 2026 (arXiv v1)
- 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)
- ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking Feb 6, 2026 (arXiv v1) ⭐️
- 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)
- AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding Jan 13, 2026 (arXiv v1), v2 Mar 24, 2026
- Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds Jan 9, 2026 (arXiv)
- SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles Jan 8, 2026 (arXiv v1)
- Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control Dec 29, 2025 (v1) / Jan 4, 2026 (v2) ⭐️
- RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion Dec 29, 2025 (v1) / Aug 29, 2026 (v5)
- E-SDS: Environment-aware See it, Do it, Sorted - Automated Environment-Aware Reinforcement Learning for Humanoid Locomotion Dec 18, 2025 (arXiv v1)
- Learning to Get Up Across Morphologies: Zero-Shot Recovery with a Unified Humanoid Policy Dec 13, 2025 (arXiv v1) ⭐️
- 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 (25)
Paper tags ordered by arXiv date, newest first
- TAPNAV: Humanoid Navigation through Tactile Active Perception Oct 7, 2026 (arXiv v1)
- TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model Sep 8, 2026 (arXiv v1) · CoRL 2026 (RSS-WS'26 Oral)
- EgoNav: Bridging Learned Waypoints and Geometry-Aware Local Control for Robust Indoor Navigation Aug 26, 2026 (arXiv v1) ⭐️
- HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments Aug 13, 2026 (arXiv v1)
- 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)
- ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning Nov 30, 2024 (arXiv v1)
- NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration Oct 11, 2023 (arXiv v1) · ICRA 2024 ⭐️
State Estimation (16)
Paper tags ordered by arXiv date, newest first
- PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots Sep 20, 2026 (arXiv v1)
- KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots Aug 6, 2026 (arXiv v1) ⭐️
- 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)
- OCELOT: Odometry and Contact Estimation for Legged Robots May 21, 2026 (arXiv) ⭐️
- PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots May 17, 2026 (arXiv)
- Iterated Invariant EKF for Quadruped Robot Odometry Apr 16, 2026 (arXiv v1)
- 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)
- ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM Jul 23, 2020 (arXiv v1) · Apr 23, 2021 (IEEE T-RO) ⭐️
- Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping Oct 6, 2019 (arXiv v1) · Mar 4, 2020 (arXiv v3) ⭐️
- Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation Apr 19, 2019 (arXiv v1), Jan 16, 2020 (IJRR), Jun 2018 (RSS 2018) ⭐️
- 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 (17)
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
- Informationally Decoupled Trajectory Design for Sim-to-Real System Identification Oct 7, 2026 (arXiv v1)
- Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization Aug 3, 2026 (arXiv v1)/ Aug 6, 2026 (v2)
- World Translation: Minimizing Sim-to-Real Gap with Backward Dynamics Extraction and Unpaired Domain Translation Jul 20, 2026 (arXiv v1)
- Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning Jul 2, 2026 (arXiv v1)/ Jul 7, 2026 (v2)
- 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)
- Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Feb 15, 2025 (arXiv v1) ⭐️
Hardware Design (19)
Paper tags ordered by arXiv date, newest first
- PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones Oct 6, 2026 (arXiv v1)
- A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles Aug 31, 2026 (arXiv)
- Handroid: Bridging Dexterous Hand and Humanoid Jul 17, 2026 (arXiv v1) ⭐️
- MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand Jul 16, 2026 (arXiv v1)
- 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)
- Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot Oct 3, 2025 (arXiv v1)
- Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance Sep 30, 2025 (arXiv)
- A Framework for Optimal Ankle Design of Humanoid Robots Sep 19, 2025 (arXiv v1)
- ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Feb 2, 2025 (arXiv v1), Oct 6, 2025 (arXiv v4) ⭐️
- Berkeley Humanoid: A Research Platform for Learning-based Control Jul 31, 2024 (arXiv v1), May 2025 (ICRA 2025) ⭐️
Simulation Benchmark (29)
Paper tags ordered by arXiv date, newest first
- Benchmarking Behavioral Steerability in Behavior Foundation Models Oct 7, 2026 (arXiv v1)
- CLAP: Cross-Embodiment Video World Models are Zero-Shot Physical Simulators Aug 27, 2026 (arXiv v1) ⭐️
- ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations Jul 7, 2026 (arXiv)
- RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies Jul 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) ⭐️
- HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning May 26, 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
- MuJoCo Playground: An Open-Source Framework for GPU-Accelerated Robot Learning and Sim-to-Real Transfer Jan 15, 2025 (技术报告)/ Feb 12, 2025 (arXiv v1) ⭐️
- 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
- ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Oct 1, 2024 (arXiv v1) · May 30, 2025 (arXiv v2) ⭐️
- 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) ⭐️
- Genesis: A Generative and Universal Physics Engine for Robotics and Beyond Dec 18, 2024 (GitHub · PyPI v0.2.0) · May 27, 2026 (Genesis World 1.0 blog) ⭐️
Physics-Based Animation (17)
Paper tags ordered by arXiv date, newest first
- From Digital Human Interactions to Physics-Based Humanoid Skills: Physics-Grounded Post-Training of Interaction Generators Oct 7, 2026 (arXiv v1)
- Lambda-Hold Control: Human-Like Movement Emerges from a Minimal Task Reward in Predictive Musculoskeletal Simulation Aug 17, 2026 (arXiv v1)
- BFMTrack: Latent Sequence Optimization for Physics-Based Motion Tracking with Behavioral Foundation Models Jun 23, 2026 (arXiv v1)
- Spherical Latent Motion Prior for Physics-Based Simulated Humanoid Control Mar 1, 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)
- FARM: Frame-Accelerated Augmentation and Residual Mixture-of-Experts for Physics-Based High-Dynamic Humanoid Control Aug 27, 2025 (arXiv v1) ⭐️
- SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and Reinforcement Learning Aug 18, 2025 (arXiv v1)
- Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics Aug 2025 (arXiv v1)
- Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why Jul 8, 2025 (arXiv)
- RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control Jun 15, 2025 (arXiv v1)
- Spatial Relationship Preserving Character Motion Adaptation 2010 (SIGGRAPH 2010 / ACM TOG 29 (4))
Human Motion (35)
Paper tags ordered by arXiv date, newest first
- Streaming Multi-Track Timeline Control for 3D Human Motion Generation Oct 2, 2026 (arXiv v1) ⭐️
- MoVT: Video-Augmented Motion Tokenizer for Text-to-Motion Generation Sep 14, 2026 (arXiv v1) ⭐️
- UniMoFlow: Grounding Instruction-Driven 3D Human Motion Editing in Generation Aug 10, 2026 (arXiv v1) ⭐️
- ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation Jul 9, 2026 (arXiv v1) ⭐️
- MoGeFlow: Flowing Through Motion Codebook Geometry for Text-to-Motion Generation Jun 10, 2026 (arXiv v1)· Jun 25, 2026 (v2) ⭐️
- AnchorRoute: Human Motion Synthesis with Interval-Routed Sparse Control May 14, 2026 (arXiv v1)·May 15, 2026 (v2)
- 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 Text Jun 2022 (CVPR 2022) ⭐️
- 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)
