STRIDE: Learning Humanoid Locomotion in Minutes with Acceleration-Based Rewards
A robotics research paper on STRIDE: Learning Humanoid Locomotion in Minutes with Acceleration-Based Rewards.
Engineering 5.0 · Research 7.0 · Business 4.0
Humanoid Robot Control Papers, Code and Reading Roadmap
Humanoid robot control covers locomotion, balance, whole-body control, reinforcement learning, sim-to-real and manipulation for bipedal robots.
Technical roadmap
Use this page to track locomotion, whole-body planning, dexterous manipulation, Tesla Optimus-style humanoid capabilities and sim-to-real research.
DKWBC: Decoupling Motion Tracking and Balancing for Humanoid Whole-Body Control
A robotics research paper on DKWBC: Decoupling Motion Tracking and Balancing for Humanoid Whole-Body Control.
Engineering 5.0 · Research 7.0 · Business 4.0
SUGARv2: Learning Diverse Visual Humanoid Loco-Manipulation Skills from Synthesized Interaction References
A robotics research paper on SUGARv2: Learning Diverse Visual Humanoid Loco-Manipulation Skills from Synthesized Interaction References.
Engineering 5.0 · Research 7.0 · Business 4.0
Autonomous Whole-body Loco-manipulation Using a Snake Robot
A robotics research paper on Autonomous Whole-body Loco-manipulation Using a Snake Robot.
Engineering 5.0 · Research 7.0 · Business 4.0
Grasp-TAGS: Task-Aware Grasp Selection via Critic Distillation for Prehensile Loco-Manipulation
A robotics research paper on Grasp-TAGS: Task-Aware Grasp Selection via Critic Distillation for Prehensile Loco-Manipulation.
Engineering 5.0 · Research 7.0 · Business 4.0
ForPC: Force-Aware Whole-Body Control for Precise Humanoid Cart Pushing
A robotics research paper on ForPC: Force-Aware Whole-Body Control for Precise Humanoid Cart Pushing.
Engineering 5.0 · Research 7.0 · Business 4.0
Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model
A robotics research paper on Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model.
Engineering 5.0 · Research 7.0 · Business 4.0
PhySA: Decoupling Aesthetic and Physical Rewards for Humanoid Locomotion
A robotics research paper on PhySA: Decoupling Aesthetic and Physical Rewards for Humanoid Locomotion.
Engineering 5.0 · Research 7.0 · Business 4.0
AffectiveVLA: Safe and Intent-Aware VLA Control for Human-Humanoid Social Interaction
A robotics research paper on AffectiveVLA: Safe and Intent-Aware VLA Control for Human-Humanoid Social Interaction.
Engineering 5.0 · Research 7.0 · Business 4.0
HITCH: Teaching a Vision-Language Model to Operate a Humanoid through a Whole-Body Harness
A robotics research paper on HITCH: Teaching a Vision-Language Model to Operate a Humanoid through a Whole-Body Harness.
Engineering 5.0 · Research 7.0 · Business 4.0
Terrain-Indexed Motion Priors and Geometric Support for Extreme Humanoid Parkour
A robotics research paper on Terrain-Indexed Motion Priors and Geometric Support for Extreme Humanoid Parkour.
Engineering 5.0 · Research 7.0 · Business 4.0
STEP: Spatiotemporal Training with Explicit Prediction for Perceptive Humanoid Locomotion
A robotics research paper on STEP: Spatiotemporal Training with Explicit Prediction for Perceptive Humanoid Locomotion.
Engineering 5.0 · Research 7.0 · Business 4.0
Social Humanoid: Socially Responsive Human-Humanoid Interaction
A robotics research paper on Social Humanoid: Socially Responsive Human-Humanoid Interaction.
Engineering 5.0 · Research 7.0 · Business 4.0
CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation
A robotics research paper on CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation.
Engineering 5.0 · Research 7.0 · Business 4.0
Efficient Diffusion Policy Fine Tuning with Latent Noise Representation Bridging
A robotics research paper on Efficient Diffusion Policy Fine Tuning with Latent Noise Representation Bridging.
Engineering 5.0 · Research 7.0 · Business 4.0
Robots in the City: Persona-Based Perceptions of Urban Robots
A robotics research paper on Robots in the City: Persona-Based Perceptions of Urban Robots.
Engineering 5.0 · Research 7.0 · Business 4.0
H^2MARL: Hierarchical Heterogeneous Multi-agent Reinforcement Learning for Humanoid Robot Control
A robotics research paper on H^2MARL: Hierarchical Heterogeneous Multi-agent Reinforcement Learning for Humanoid Robot Control.
Engineering 5.0 · Research 7.0 · Business 4.0
Playing Soccer Like Humans Do: Learning Versatile and Agile Humanoid Soccer via Latent Motion Priors
A robotics research paper on Playing Soccer Like Humans Do: Learning Versatile and Agile Humanoid Soccer via Latent Motion Priors.
Engineering 5.0 · Research 7.0 · Business 4.0
Perceptive Humanoid Motion from Simulation
A robotics research paper on Perceptive Humanoid Motion from Simulation.
Engineering 5.0 · Research 7.0 · Business 4.0
Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain
A robotics research paper on Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain.
Engineering 5.0 · Research 7.0 · Business 4.0