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One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training.
Development of wabot 1
Ichiro Kato · 1973
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Legged robots that balance
Marc H Raibert · 1986
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Biped dynamic walking using reinforcement learning
Hamid Benbrahim and Judy A Franklin · 1997
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The development of honda humanoid robot
Kazuo Hirai, Masato Hirose, Yuji Haikawa, and Toru Takenaka · 1998
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The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa · 2001
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Hybrid zero dynamics of planar biped walkers
Eric R Westervelt, Jessy W Grizzle, and Daniel E Koditschek · 2003
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Stochastic policy gradient reinforcement learning on a simple 3d biped
Russ Tedrake, Teresa Weirui Zhang, and H Sebastian Seung · 2004
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Footstep planning for the honda asimo humanoid
Joel Chestnutt, Manfred Lau, German Cheung, James Kuffner, Jessica Hodgins, and Takeo Kanade · 2005
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Efficient bipedal robots based on passive-dynamic walkers
Steve Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse · 2005
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A humanoid robot carrying a heavy object
Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, and Hirohisa Hirukawa · 2005
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Dynamic lifting motion of humanoid robots
Hitoshi Arisumi, Jean-Rémy Chardonnet, Abderrahmane Kheddar, and Kazuhito Yokoi · 2007
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Real-time planning of humanoid robot’s gait for force-controlled manipulation
Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa · 2007
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On real-time whole-body human to humanoid motion transfer
Francisco-Javier Montecillo-Puente, Manish Sreenivasa, and Jean-Paul Laumond · 2010
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Petman: A humanoid robot for testing chemical protective clothing
Gabe Nelson, Aaron Saunders, Neil Neville, Ben Swilling, Joe Bondaryk, Devin Billings, Chris Lee, Robert Playter, and Marc Raibert · 2012
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Synthesis and stabilization of complex behaviors through online trajectory optimization
Yuval Tassa, Tom Erez, and Emanuel Todorov · 2012
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Legibility and predictability of robot motion
Anca D Dragan, Kenton CT Lee, and Siddhartha S Srinivasa · 2013
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Whole body motion control framework for arbitrarily and simultaneously assigned upper-body tasks and walking motion
Doik Kim, Bum-Jae You, and Sang-Rok Oh · 2013
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Learning of compliant human–robot interaction using full-body haptic interface
Luka Peternel and Jan Babič · 2013
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Humanoid robot teleoperation with vibrotactile based balancing feedback
Anais Brygo, Ioannis Sarakoglou, Nadia Garcia-Hernandez, and Nikolaos Tsagarakis · 2014
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Optimization based full body control for the atlas robot
Siyuan Feng, Eric Whitman, X Xinjilefu, and Christopher G Atkeson · 2014
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Online human walking imitation in task and joint space based on quadratic programming
Kai Hu, Christian Ott, and Dongheui Lee · 2014
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Valkyrie: Nasa’s first bipedal humanoid robot
Nicolaus A Radford, Philip Strawser, Kimberly Hambuchen, Joshua S Mehling, William K Verdeyen, A Stuart Donnan, James Holley, Jairo Sanchez, Vienny Nguyen, Lyndon Bridgwater, et al · 2015
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2016
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Motion primitive based random planning for loco-manipulation tasks
Alessandro Settimi, Danilo Caporale, Przemyslaw Kryczka, Mirko Ferrati, and Lucia Pallottino · 2016
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Humanoid whole-body planning for loco-manipulation tasks
Paolo Ferrari, Marco Cognetti, and Giuseppe Oriolo · 2017
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The" something something" video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, et al · 2017
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Dynamic walking on randomly-varying discrete terrain with one-step preview
Quan Nguyen, Ayush Agrawal, Xingye Da, William C Martin, Hartmut Geyer, Jessy W Grizzle, and Koushil Sreenath · 2017
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Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting
Kazuya Otani and Karim Bouyarmane · 2017
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J. Black · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Talos: A new humanoid research platform targeted for industrial applications
Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, et al · 2017
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2018
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High speed whole body dynamic motion experiment with real time master-slave humanoid robot system
Yasuhiro Ishiguro, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba · 2018
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Imitation from observation: Learning to imitate behaviors from raw video via context translation
YuXuan Liu, Abhishek Gupta, Pieter Abbeel, and Sergey Levine · 2018
Cited alongside, same era.
Robust real-time whole-body motion retargeting from human to humanoid
Luigo Penco, Brice Clément, Valerio Modugno, E Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos G Tsagarakis, J-B Mouret, and Serena Ivaldi · 2018
Cited alongside, same era.
Humanoid dynamic synchronization through whole-body bilateral feedback teleoperation
Joao Ramos and Sangbae Kim · 2018
Cited alongside, same era.
Feedback control for cassie with deep reinforcement learning
Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan Hurst, and Michiel Van de Panne · 2018
Cited alongside, same era.
Whole-body geometric retargeting for humanoid robots
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, and Daniele Pucci · 2019
Cited alongside, same era.
Linear policies are sufficient to realize robust bipedal walking on challenging terrains
Lokesh Krishna, Guillermo A Castillo, Utkarsh A Mishra, Ayonga Hereid, and Shishir Kolathaya · 2022
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Dexmv: Imitation learning for dexterous manipulation from human videos
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2022
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AMASS: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F. Troje, Gerard Pons-Moll, and Michael J. Black · 2019
Cited alongside, same era.
Expressive body capture: 3D hands, face, and body from a single image
Georgios Pavlakos, Vasileios Choutas, Nima Ghorbani, Timo Bolkart, Ahmed A. A. Osman, Dimitrios Tzionas, and Michael J. Black · 2019
Cited alongside, same era.
A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot
Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, and Serena Ivaldi · 2019
Cited alongside, same era.
Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation
Joao Ramos and Sangbae Kim · 2019
Cited alongside, same era.
Third-person visual imitation learning via decoupled hierarchical controller
Pratyusha Sharma, Deepak Pathak, and Abhinav Gupta · 2019
Cited alongside, same era.
Avid: Learning multi-stage tasks via pixel-level translation of human videos
Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, and Sergey Levine · 2019
Cited alongside, same era.
Telexistence and teleoperation for walking humanoid robots
Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, and Daniele Pucci · 2020
Cited alongside, same era.
Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
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Holo-dex: Teaching dexterity with immersive mixed reality
Sridhar Pandian Arunachalam, Irmak Güzey, Soumith Chintala, and Lerrel Pinto · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Sim-to-real learning for humanoid box loco-manipulation
Jeremy Dao, Helei Duan, and Alan Fern · 2023
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Graph inverse reinforcement learning from diverse videos
Sateesh Kumar, Jonathan Zamora, Nicklas Hansen, Rishabh Jangir, and Xiaolong Wang · 2023
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Perpetual humanoid control for real-time simulated avatars
Zhengyi Luo, Jinkun Cao, Alexander W. Winkler, Kris Kitani, and Weipeng Xu · 2023
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Dynamic mobile manipulation via whole-body bilateral teleoperation of a wheeled humanoid
Amartya Purushottam, Christopher Xu, Yeongtae Jung, and Joao Ramos · 2023
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Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2023
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Deep imitation learning for humanoid loco-manipulation through human teleoperation
Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, and Yuke Zhu · 2023
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Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, and Lerrel Pinto · 2023
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Learning bipedal walking for humanoids with current feedback
Rohan P Singh, Zhaoming Xie, Pierre Gergondet, and Fumio Kanehiro · 2023
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Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, and Masayuki Inaba · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Expressive whole-body control for humanoid robots
Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang, and Xiaolong Wang · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Learning human-to-humanoid real-time whole-body teleoperation
Tairan He, Zhengyi Luo, Wenli Xiao, Chong Zhang, Kris Kitani, Changliu Liu, and Guanya Shi · 2024
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Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2024
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Learning visuotactile skills with two multifingered hands
Toru Lin, Yu Zhang, Qiyang Li, Haozhi Qi, Brent Yi, Sergey Levine, and Jitendra Malik · 2024
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Where are we in the search for an artificial visual cortex for embodied intelligence?
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Reconstructing hands in 3D with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Learning force control for legged manipulation
Tifanny Portela, Gabriel B Margolis, Yandong Ji, and Pulkit Agrawal · 2024
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Wham: Reconstructing world-grounded humans with accurate 3d motion
Soyong Shin, Juyong Kim, Eni Halilaj, and Michael J. Black · 2024
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Revisiting reward design and evaluation for robust humanoid standing and walking
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
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Whole-body humanoid robot locomotion with human reference
Qiang Zhang, Peter Cui, David Yan, Jingkai Sun, Yiqun Duan, Arthur Zhang, and Renjing Xu · 2024
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