HIPC: Humanoid Iterative Planning and Control via Goal-Conditioned Motion Closure
A robotics research paper on HIPC: Humanoid Iterative Planning and Control via Goal-Conditioned Motion Closure.
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.
Geometry-Aware Humanoid Retargeting via Manifold ODEs
A robotics research paper on Geometry-Aware Humanoid Retargeting via Manifold ODEs.
Engineering 5.0 · Research 7.0 · Business 4.0
DiffWBC: Unlocking Steerable General Humanoid Motion Tracking via One-Step Diffusion Whole-Body Control
A robotics research paper on DiffWBC: Unlocking Steerable General Humanoid Motion Tracking via One-Step Diffusion Whole-Body Control.
Engineering 5.0 · Research 7.0 · Business 4.0
FOCUS: First-Order Control Using Optimal Transport Supervision for Imitation from Observations
A robotics research paper on FOCUS: First-Order Control Using Optimal Transport Supervision for Imitation from Observations.
Engineering 5.0 · Research 7.0 · Business 4.0
$\nabla$Mimic: Ultra-Efficient Humanoid Control with Differentiable Simulation
A robotics research paper on $\nabla$Mimic: Ultra-Efficient Humanoid Control with Differentiable Simulation.
Engineering 5.0 · Research 7.0 · Business 4.0
Movens-Zero: Scaling Humanoid Motion Foundation Models with Large-Scale Human Videos
A robotics research paper on Movens-Zero: Scaling Humanoid Motion Foundation Models with Large-Scale Human Videos.
Engineering 5.0 · Research 7.0 · Business 4.0
REA: A Routed Embodied Agent Runtime for Asynchronous Brain-Cerebellum Control
A robotics research paper on REA: A Routed Embodied Agent Runtime for Asynchronous Brain-Cerebellum Control.
Engineering 5.0 · Research 7.0 · Business 4.0
ROOF: Learning Humanoid Fall Recovery under Overhead Constraints
A robotics research paper on ROOF: Learning Humanoid Fall Recovery under Overhead Constraints.
Engineering 5.0 · Research 7.0 · Business 4.0
Joint-Health-Aware Reinforcement Learning for Robust Robot Control Under Actuator Degradation
A robotics research paper on Joint-Health-Aware Reinforcement Learning for Robust Robot Control Under Actuator Degradation.
Engineering 5.0 · Research 7.0 · Business 4.0
Online Learning of Heterogeneous Locomotion Dynamics under Reinforcement Learning Policies for Precise Loco-Manipulation
A robotics research paper on Online Learning of Heterogeneous Locomotion Dynamics under Reinforcement Learning Policies for Precise Loco-Manipulation.
Engineering 5.0 · Research 7.0 · Business 4.0
SONIC-K1: Porting a Universal Humanoid Motion Tracker to a Small Humanoid on a Single GPU
A robotics research paper on SONIC-K1: Porting a Universal Humanoid Motion Tracker to a Small Humanoid on a Single GPU.
Engineering 5.0 · Research 7.0 · Business 4.0
Humanoid Dodgeball: Learning Fast Dynamic Obstacle Avoidance Motions for Humanoids
A robotics research paper on Humanoid Dodgeball: Learning Fast Dynamic Obstacle Avoidance Motions for Humanoids.
Engineering 5.0 · Research 7.0 · Business 4.0
ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning
A robotics research paper on ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning.
Engineering 5.0 · Research 7.0 · Business 4.0
Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation
A robotics research paper on Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation.
Engineering 5.0 · Research 7.0 · Business 4.0
Catch It All!: Generalizable Dynamic Catching with a Dexterous Hand
A robotics research paper on Catch It All!: Generalizable Dynamic Catching with a Dexterous Hand.
Engineering 5.0 · Research 7.0 · Business 4.0
Echo: Scaling Visual Reinforcement Learning with Off-policy Experience
A robotics research paper on Echo: Scaling Visual Reinforcement Learning with Off-policy Experience.
Engineering 5.0 · Research 7.0 · Business 4.0
FORGE: Feasible Online Reduced-Order Reference Generation and Whole-Body Execution for Agile Humanoid Locomotion
A robotics research paper on FORGE: Feasible Online Reduced-Order Reference Generation and Whole-Body Execution for Agile Humanoid Locomotion.
Engineering 5.0 · Research 7.0 · Business 4.0
METATRON: A Promptable Whole-Body Execution Layer for Humanoids
A robotics research paper on METATRON: A Promptable Whole-Body Execution Layer for Humanoids.
Engineering 5.0 · Research 7.0 · Business 4.0
Whole-Body Humanoid Control via Stochastic Motion Tokenization
A robotics research paper on Whole-Body Humanoid Control via Stochastic Motion Tokenization.
Engineering 5.0 · Research 7.0 · Business 4.0
GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers
A robotics research paper on GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers.
Engineering 5.0 · Research 7.0 · Business 4.0