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.
- arXiv 2024.12, ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition, website
- arXiv 2024.12, ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning
- 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, Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies, website / code
- 🌟 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
- 2024.09, Bimanual Dexterity for Complex Tasks, website
- 🌟 arXiv 2024.08, ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation, website / code
- 🌟 arXiv 2024.07, Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, website / code
- 🌟 arXiv 2024.07, Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning, 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
- 1999, Is imitation learning the route to humanoid robots?
- 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 2024.12, SPARK: A Toolbox for Safe Humanoid Autonomy and Teleoperation, 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 2024.09, Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation, Website
- 2024.08, VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters, 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, WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts, website
- 🌟 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 / 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 2023.09, Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, website / code
- arXiv 2022.03, iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots, Science Robotics
- arXiv 2024.12, NaVILA: Legged Robot Vision-Language-Action Model for Navigation, website
- arXiv 2024.11, Learning Humanoid Locomotion with Perceptive Internal Model
- 🌟 arXiv 2024.11, Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing, code
- 🌟 arXiv 2024.10, Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, website / code
- arXiv 2024.10, Learning Humanoid Locomotion over Challenging Terrain, website
- 2024.10, Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training, website
- 2024.10, Bi-Level Motion Imitation for Humanoid Robots, website
- arXiv 2024.08, Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
- arXiv 2024.06, Humanoid Parkour Learning, website
- arXiv 2024.02, Humanoid Locomotion as Next Token Prediction, website
- arXiv 2024.02, Whole-body Humanoid Robot Locomotion with Human Reference, website
- arXiv 2024.01, Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
- arXiv 2023.09, Learning to Walk and Fly with Adversarial Motion Priors
- arXiv 2023.03, Real-World Humanoid Locomotion with Reinforcement Learning, website
- arXiv 2023.02, Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
- 2024.11, Zeroth Bot, Github
- 🌟 arXiv 2024.09, The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics, website / code
- 🌟 arXiv 2024.07, Berkeley Humanoid: A Research Platform for Learning-based Control, website / code
- 2024.07, Design and Control of a Bipedal Robotic Character, youtube
- 2021.04, The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
- arXiv 2024.12, Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking, website
- 🌟 arXiv 2024.12, ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks, website
- arXiv 2024.12, Genesis: A Generative and Universal Physics Engine for Robotics and Beyond, code / website
- arXiv 2024.10, DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning, website
- 🌟 arXiv 2024.10, ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI, website / code
- 🌟 arXiv 2024.07, BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark, website / code
- 🌟 arXiv, GRUtopia: Dream General Robots in a City at Scale, website
- 🌟 arXiv 2024.06, RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots, website / code
- 🌟 arXiv 2024.04, Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, website / code
- 🌟 arXiv 2024.03, HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, website / code
If you have questions/suggestions, feel free to email Yanjie Ze.