Fetching the paper…
Reading the bibliography…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings.
R. B. Wilson, “A simplicial method for convex programming,”
1963
Earlier work this paper cites.
D. Mayne, “A second-order gradient method for determining optimal trajectories of non-linear discrete-time systems,”
1966
Earlier work this paper cites.
L. B. Rall,
1981
Earlier work this paper cites.
H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, and M. Morisawa, “A universal stability criterion of the foot contact of legged robots - adios zmp,” in
1983
Earlier work this paper cites.
J. K. Salisbury, “Whole-arm manipulation,” in
1987
Earlier work this paper cites.
O. Khatib, “A unified approach for motion and force control of robot manipulators: The operational space formulation,”
1987
Earlier work this paper cites.
T. McGeer, “Passive walking with knees,” in
1990
Earlier work this paper cites.
W. T. Townsend and J. K. Salisbury, “Mechanical design for whole-arm manipulation,” in
1993
Earlier work this paper cites.
N. S. Pollard, “Parallel methods for synthesizing whole-hand grasps from generalized prototypes,” Ph.D. dissertation, Massachusetts Institute of Technology, Cambridge, MA, 1994
1994
Earlier work this paper cites.
K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The development of honda humanoid robot,” in
1998
Earlier work this paper cites.
Carnegie Mellon University, “Cmu graphics lab motion capture database,” 2002
2002
Earlier work this paper cites.
A. J. Ijspeert, J. Nakanishi, and S. Schaal, “Learning attractor landscapes for learning motor primitives,” in
2002
Earlier work this paper cites.
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped walking pattern generation by using preview control of zero-moment point,” in
2003
Earlier work this paper cites.
J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal, and M. Kawato, “Learning from demonstration and adaptation of biped locomotion,”
2004
Earlier work this paper cites.
S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive-dynamic walkers,”
2005
Earlier work this paper cites.
K. Hauser, T. Bretl, and J.-C. Latombe, “Non-gaited humanoid locomotion planning,” in
2005
Earlier work this paper cites.
K. Hsiao and T. Lozano-Perez, “Imitation learning of whole-body grasps,” in
2006
Earlier work this paper cites.
M. Diehl, H. G. Bock, H. Diedam, and P.-B. Wieber, “Fast direct multiple shooting algorithms for optimal robot control,”
2006
Earlier work this paper cites.
J. Morimoto and C. G. Atkeson, “Learning biped locomotion,”
2007
Earlier work this paper cites.
Y. Ohmura and Y. Kuniyoshi, “Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback,” in
2007
Earlier work this paper cites.
K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, and H. Hirukawa, “Real-time planning of humanoid robot’s gait for force-controlled manipulation,”
2007
Earlier work this paper cites.
M. Saha and P. Isto, “Manipulation planning for deformable linear objects,”
2007
Earlier work this paper cites.
L. Sentis, “Synthesis and control of whole-body behaviors in humanoid systems,” Ph.D. dissertation, Stanford University, 2007
2007
Earlier work this paper cites.
M. Mistry, J. Nakanishi, G. Cheng, and S. Schaal, “Inverse kinematics with floating base and constraints for full body humanoid robot control,” in
2008
Earlier work this paper cites.
J. Nakanishi, R. Cory, M. Mistry, J. Peters, and S. Schaal, “Operational space control: A theoretical and empirical comparison,”
2008
Earlier work this paper cites.
R. S. Dahiya, G. Metta, M. Valle, and G. Sandini, “Tactile sensing—from humans to humanoids,”
2009
Earlier work this paper cites.
K. Suwanratchatamanee, M. Matsumoto, and S. Hashimoto, “A simple tactile sensing foot for humanoid robot and active ground slope recognition,” in
2009
Earlier work this paper cites.
N. Mansard, O. Khatib, and A. Kheddar, “A unified approach to integrate unilateral constraints in the stack of tasks,”
2009
Earlier work this paper cites.
S. Coros, P. Beaudoin, and M. van de Panne, “Robust task-based control policies for physics-based characters,”
2009
Earlier work this paper cites.
K. Harada, S. Hattori, H. Hirukawa, M. Morisawa, S. Kajita, and E. Yoshida, “Two-stage time-parametrized gait planning for humanoid robots,”
2010
Earlier work this paper cites.
J. T. Betts,
2010
Earlier work this paper cites.
S. Nozawa, R. Ueda, Y. Kakiuchi, K. Okada, and M. Inaba, “A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight,” in
2010
Earlier work this paper cites.
M. Mistry, J. Buchli, and S. Schaal, “Inverse dynamics control of floating base systems using orthogonal decomposition,” in
2010
Earlier work this paper cites.
M. de Lasa, I. Mordatch, and A. Hertzmann, “Feature-based locomotion controllers,”
2010
Earlier work this paper cites.
T. Hester, M. Quinlan, and P. Stone, “Generalized model learning for reinforcement learning on a humanoid robot,” in
2010
Earlier work this paper cites.
Z. Xia, J. Xiong, and K. Chen, “Global navigation for humanoid robots using sampling-based footstep planners,”
2011
Earlier work this paper cites.
A. Kheddar and A. Billard, “A tactile matrix for whole-body humanoid haptic sensing and safe interaction,” in
2011
Earlier work this paper cites.
J. L. Jerez, E. C. Kerrigan, and G. A. Constantinides, “A condensed and sparse qp formulation for predictive control,” in
2011
Earlier work this paper cites.
L. Righetti, J. Buchli, M. Mistry, and S. Schaal, “Inverse dynamics control of floating-base robots with external constraints: A unified view,” in
2011
Earlier work this paper cites.
F. Keith, P.-B. Wieber, N. Mansard, and A. Kheddar, “Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations,” in
2011
Earlier work this paper cites.
K. Bouyarmane and A. Kheddar, “Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations,” in
2011
Earlier work this paper cites.
C. Smith, Y. Karayiannidis, L. Nalpantidis, X. Gratal, P. Qi, D. V. Dimarogonas, and D. Kragic, “Dual arm manipulation—a survey,”
2012
Earlier work this paper cites.
I. Mordatch, E. Todorov, and Z. Popović, “Discovery of complex behaviors through contact-invariant optimization,”
2012
Earlier work this paper cites.
Y. Tassa, T. Erez, and E. Todorov, “Synthesis and stabilization of complex behaviors through online trajectory optimization,” in
2012
Earlier work this paper cites.
Y. Tassa, T. Erez, and E. Todorov, “Synthesis and stabilization of complex behaviors through online trajectory optimization,” in
2012
Earlier work this paper cites.
E. Todorov, T. Erez, and Y. Tassa, “Mujoco: A physics engine for model-based control,” in
2012
Earlier work this paper cites.
A. Jain, M. D. Killpack, A. Edsinger, and C. C. Kemp, “Reaching in clutter with whole-arm tactile sensing,”
2013
Earlier work this paper cites.
Q. Li, C. Schürmann, R. Haschke, and H. J. Ritter, “A control framework for tactile servoing.” in
2013
Earlier work this paper cites.
X. Song, H. Liu, K. Althoefer, T. Nanayakkara, and L. D. Seneviratne, “Efficient break-away friction ratio and slip prediction based on haptic surface exploration,”
2013
Earlier work this paper cites.
P. Maiolino, M. Maggiali, G. Cannata, G. Metta, and L. Natale, “A flexible and robust large scale capacitive tactile system for robots,”
2013
Earlier work this paper cites.
S. Lengagne, J. Vaillant, E. Yoshida, and A. Kheddar, “Generation of whole-body optimal dynamic multi-contact motions,”
2013
Earlier work this paper cites.
A. Escande, A. Kheddar, and S. Miossec, “Planning contact points for humanoid robots,”
2013
Earlier work this paper cites.
D. E. Orin, A. Goswami, and S.-H. Lee, “Centroidal dynamics of a humanoid robot,”
2013
Earlier work this paper cites.
L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, and S. Schaal, “Optimal distribution of contact forces with inverse-dynamics control,”
2013
Earlier work this paper cites.
M. A. Goodrich, J. W. Crandall, and E. Barakova, “Teleoperation and beyond for assistive humanoid robots,”
2013
Earlier work this paper cites.
S. Levine and V. Koltun, “Guided policy search,” in
2013
Earlier work this paper cites.
S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi,
2014
Earlier work this paper cites.
P. Wensing, “Optimization and control of dynamic humanoid running and jumping,” Ph.D. dissertation, The Ohio State University, 2014
2014
Earlier work this paper cites.
M. Florek-Jasińska, T. Wimböck, and C. Ott, “Humanoid compliant whole arm dexterous manipulation: Control design and experiments,” in
2014
Earlier work this paper cites.
N. Sommer, M. Li, and A. Billard, “Bimanual compliant tactile exploration for grasping unknown objects,” in
2014
Earlier work this paper cites.
Y. Chebotar, O. Kroemer, and J. Peters, “Learning robot tactile sensing for object manipulation,” in
2014
Earlier work this paper cites.
M. Posa, C. Cantu, and R. Tedrake, “A direct method for trajectory optimization of rigid bodies through contact,”
2014
Earlier work this paper cites.
B. Henze, C. Ott, and M. A. Roa, “Posture and balance control for humanoid robots in multi-contact scenarios based on model predictive control,” in
2014
Earlier work this paper cites.
H. Dai, A. Valenzuela, and R. Tedrake, “Whole-body motion planning with centroidal dynamics and full kinematics,” in
2014
Earlier work this paper cites.
H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, and E. Yoshida, “Model preview control in multi-contact motion-application to a humanoid robot,” in
2014
Earlier work this paper cites.
A. Escande, N. Mansard, and P.-B. Wieber, “Hierarchical quadratic programming: Fast online humanoid-robot motion generation,”
2014
Earlier work this paper cites.
D. P. Kingma and M. Welling, “Auto-encoding variational bayes.” in
2014
Earlier work this paper cites.
R. Calandra, A. Seyfarth, J. Peters, and M. P. Deisenroth, “Bayesian optimization for learning gaits under uncertainty: An experimental comparison on a dynamic bipedal walker,”
2015
Earlier work this paper cites.
M. Murooka, S. Nozawa, Y. Kakiuchi, K. Okada, and M. Inaba, “Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot,” in
2015
Earlier work this paper cites.
Z. Kappassov, J.-A. Corrales, and V. Perdereau, “Tactile sensing in dexterous robot hands,”
2015
Earlier work this paper cites.
E. Y. P. Mittendorfer and G. Cheng, “Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot,”
2015
Earlier work this paper cites.
H. Van Hoof, T. Hermans, G. Neumann, and J. Peters, “Learning robot in-hand manipulation with tactile features,” in
2015
Earlier work this paper cites.
F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete, and D. Pucci, “icub whole-body control through force regulation on rigid non-coplanar contacts,”
2015
Earlier work this paper cites.
E. Farnioli, M. Gabiccini, and A. Bicchi, “Optimal contact force distribution for compliant humanoid robots in whole-body loco-manipulation tasks,” in
2015
Earlier work this paper cites.
S.-C. Hsu, X. Xu, and A. D. Ames, “Control barrier function based quadratic programs with application to bipedal robotic walking,” in
2015
Earlier work this paper cites.
M. A. Hopkins, D. W. Hong, and A. Leonessa, “Compliant locomotion using whole-body control and divergent component of motion tracking,” in
2015
Earlier work this paper cites.
A. Rocchi, E. M. Hoffman, D. G. Caldwell, and N. G. Tsagarakis, “OpenSoT: A whole-body control library for the compliant humanoid robot COMAN,” in
2015
Earlier work this paper cites.
S. Feng, E. Whitman, X. Xinjilefu, and C. G. Atkeson, “Optimization-based full body control for the darpa robotics challenge,”
2015
Earlier work this paper cites.
2015
Earlier work this paper cites.
B. Henze, M. A. Roa, and C. Ott, “Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios,”
2016
Earlier work this paper cites.
P.-B. Wieber, R. Tedrake, and S. Kuindersma, “Modeling and control of legged robots,” in
2016
Earlier work this paper cites.
J. Reher, E. A. Cousineau, A. Hereid, C. M. Hubicki, and A. D. Ames, “Realizing dynamic and efficient bipedal locomotion on the humanoid robot durus,” in
2016
Earlier work this paper cites.
Y. Zhao, U. Topcu, and L. Sentis, “High-level planner synthesis for whole-body locomotion in unstructured environments,” in
2016
Earlier work this paper cites.
J. Vaillant
2016
Earlier work this paper cites.
H. Van Hoof, N. Chen, M. Karl, P. van der Smagt, and J. Peters, “Stable reinforcement learning with autoencoders for tactile and visual data,” in
2016
Earlier work this paper cites.
S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake, “Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot,”
2016
Earlier work this paper cites.
B. Ponton, A. Herzog, S. Schaal, and L. Righetti, “A convex model of humanoid momentum dynamics for multi-contact motion generation,” in
2016
Earlier work this paper cites.
M. Posa, S. Kuindersma, and R. Tedrake, “Optimization and stabilization of trajectories for constrained dynamical systems,” in
2016
Earlier work this paper cites.
C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, and C. Semini, “Hierarchical planning of dynamic movements without scheduled contact sequences,” in
2016
Earlier work this paper cites.
A. Herzog, S. Schaal, and L. Righetti, “Structured contact force optimization for kino-dynamic motion generation,” in
2016
Earlier work this paper cites.
G. Williams, P. Drews, B. Goldfain, J. M. Rehg, and E. A. Theodorou, “Aggressive driving with model predictive path integral control,” in
2016
Earlier work this paper cites.
T. Koolen, S. Bertrand, G. Thomas, T. De Boer, T. Wu, J. Smith, J. Englsberger, and J. Pratt, “Design of a momentum-based control framework and application to the humanoid robot atlas,”
2016
Earlier work this paper cites.
V. Mnih, A. P. Badia, M. Mirza, A. Graves, T. P. Lillicrap, T. Harley, D. Silver, and K. Kavukcuoglu, “Asynchronous methods for deep reinforcement learning,” in
2016
Earlier work this paper cites.
J. Tan, Z. Xie, B. Boots, and C. K. Liu, “Simulation-based design of dynamic controllers for humanoid balancing,” in
2016
Earlier work this paper cites.
W. Yuan, S. Dong, and E. H. Adelson, “Gelsight: High-resolution robot tactile sensors for estimating geometry and force,”
2017
Earlier work this paper cites.
L. Natale and G. Cannata, “Tactile sensing,” in
2017
Earlier work this paper cites.
L. Janson, E. Schmerling, and M. Pavone, “Monte carlo motion planning for robot trajectory optimization under uncertainty,” in
2017
Earlier work this paper cites.
A. Zhakatayev, B. Rakhim, O. Adiyatov, A. Baimyshev, and H. A. Varol, “Successive linearization based model predictive control of variable stiffness actuated robots,” in
2017
Earlier work this paper cites.
K. Otani and K. Bouyarmane, “Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargeting,” in
2017
Earlier work this paper cites.
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov, “Proximal policy optimization algorithms,”
2017
Earlier work this paper cites.
2017
Earlier work this paper cites.
A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, L. u. Kaiser, and I. Polosukhin, “Attention is all you need,” in
2017
Earlier work this paper cites.
A. Goswami and P. Vadakkepat,
2018
Earlier work this paper cites.
E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris,
2018
Earlier work this paper cites.
N. Kashiri
2018
Earlier work this paper cites.
T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel, “Deep imitation learning for complex manipulation tasks from virtual reality teleoperation,” in
2018
Earlier work this paper cites.
M. Kaboli and G. Cheng, “Robust tactile descriptors for discriminating objects from textural properties via artificial robotic skin,”
2018
Earlier work this paper cites.
J. R. Guadarrama-Olvera, F. Bergner, E. Dean, and G. Cheng, “Enhancing biped locomotion on unknown terrain using tactile feedback,” in
2018
Earlier work this paper cites.
S. Brossette, A. Escande, and A. Kheddar, “Multicontact postures computation on manifolds,”
2018
Earlier work this paper cites.
J. Carius, R. Ranftl, V. Koltun, and M. Hutter, “Trajectory optimization with implicit hard contacts,”
2018
Earlier work this paper cites.
C. Rösmann, M. Krämer, A. Makarow, F. Hoffmann, and T. Bertram, “Exploiting sparse structures in nonlinear model predictive control with hypergraphs,” in
2018
Earlier work this paper cites.
J. Carpentier and N. Mansard, “Multicontact locomotion of legged robots,”
2018
Earlier work this paper cites.
J. Zhu, B. Navarro, P. Fraisse, A. Crosnier, and A. Cherubini, “Dual-arm robotic manipulation of flexible cables,” in
2018
Earlier work this paper cites.
P. Marion
2018
Earlier work this paper cites.
L. Penco, B. Clement, V. Modugno, E. Mingo Hoffman, G. Nava, D. Pucci, N. G. Tsagarakis, J. B. Mouret, and S. Ivaldi, “Robust real-time whole-body motion retargeting from human to humanoid,” in
2018
Earlier work this paper cites.
F. Abi-Farrajl, B. Henze, A. Werner, M. Panzirsch, C. Ott, and M. A. Roa, “Humanoid teleoperation using task-relevant haptic feedback,” in
2018
Earlier work this paper cites.
J. Ramos and S. Kim, “Humanoid dynamic synchronization through whole-body bilateral feedback teleoperation,”
2018
Earlier work this paper cites.
K. Pfeiffer, A. Escande, and A. Kheddar, “Singularity Resolution in Equality and Inequality Constrained Hierarchical Task-Space Control by Adaptive Nonlinear Least Squares,”
2018
Earlier work this paper cites.
K. Bouyarmane and A. Kheddar, “On weight-prioritized multitask control of humanoid robots,”
2018
Earlier work this paper cites.
A. Laurenzi, E. Mingo Hoffman, M. Parigi Polverini, and N. G. Tsagarakis, “Balancing control through post-optimization of contact forces,” in
2018
Earlier work this paper cites.
T. Haarnoja, A. Zhou, P. Abbeel, and S. Levine, “Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor.” in
2018
Earlier work this paper cites.
S. Fujimoto, H. Hoof, and D. Meger, “Addressing function approximation error in actor-critic methods,” in
2018
Earlier work this paper cites.
X. B. Peng, A. Kanazawa, J. Malik, P. Abbeel, and S. Levine, “Sfv: Reinforcement learning of physical skills from videos,”
2018
Earlier work this paper cites.
X. B. Peng, P. Abbeel, S. Levine, and M. van de Panne, “Deepmimic: example-guided deep reinforcement learning of physics-based character skills,”
2018
Earlier work this paper cites.
Z. Xie, G. Berseth, P. Clary, J. Hurst, and M. van de Panne, “Feedback control for cassie with deep reinforcement learning,” in
2018
Earlier work this paper cites.
D. Ha and J. Schmidhuber, “World models,”
2018
Earlier work this paper cites.
D. J. Agravante, A. Cherubini, A. Sherikov, P.-B. Wieber, and A. Kheddar, “Human-humanoid collaborative carrying,”
2019
Earlier work this paper cites.
F. Heremans, S. Vijayakumar, M. Bouri, B. Dehez, and R. Ronsse, “Bio-inspired design and validation of the efficient lockable spring ankle (ELSA) prosthesis,”
2019
Earlier work this paper cites.
R. J. Griffin, G. Wiedebach, S. McCrory, S. Bertrand, I. Lee, and J. Pratt, “Footstep planning for autonomous walking over rough terrain,” in
2019
Earlier work this paper cites.
G. Cheng, E. Dean-Leon, F. Bergner, J. Rogelio Guadarrama Olvera, Q. Leboutet, and P. Mittendorfer, “A comprehensive realization of robot skin: Sensors, sensing, control, and applications,”
2019
Earlier work this paper cites.
W. Yuan, K. Hang, H. Song, D. Kragic, M. Y. Wang, and J. A. Stork, “Reinforcement learning in topology-based representation for human body movement with whole arm manipulation,” in
2019
Earlier work this paper cites.
D. Rakita, B. Mutlu, M. Gleicher, and L. M. Hiatt, “Shared control–based bimanual robot manipulation,”
2019
Earlier work this paper cites.
S. Tian, F. Ebert, D. Jayaraman, M. Mudigonda, C. Finn, R. Calandra, and S. Levine, “Manipulation by feel: Touch-based control with deep predictive models,” in
2019
Earlier work this paper cites.
E. Dean-Leon, J. R. Guadarrama-Olvera, F. Bergner, and G. Cheng, “Whole-body active compliance control for humanoid robots with robot skin,” in
2019
Earlier work this paper cites.
A. Kheddar
2019
Earlier work this paper cites.
K. Bouyarmane, S. Caron, A. Escande, and A. Kheddar, “Multi-contact motion planning and control,” in
2019
Earlier work this paper cites.
P. Ferrari, N. Scianca, L. Lanari, and G. Oriolo, “An integrated motion planner/controller for humanoid robots on uneven ground,” in
2019
Earlier work this paper cites.
F. Abi-Farraj, B. Henze, C. Ott, P. R. Giordano, and M. A. Roa, “Torque-based balancing for a humanoid robot performing high-force interaction tasks,”
2019
Earlier work this paper cites.
Y.-C. Lin, B. Ponton, L. Righetti, and D. Berenson, “Efficient humanoid contact planning using learned centroidal dynamics prediction,” in
2019
Cited alongside, same era.
L. Penco, N. Scianca, V. Modugno, L. Lanari, G. Oriolo, and S. Ivaldi, “A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot,”
2019
Cited alongside, same era.
R. Budhiraja, J. Carpentier, and N. Mansard, “Dynamics consensus between centroidal and whole-body models for locomotion of legged robots,” in
2019
Cited alongside, same era.
X. Da and J. Grizzle, “Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots,”
2019
Cited alongside, same era.
Y. Ding, A. Pandala, and H.-W. Park, “Real-time model predictive control for versatile dynamic motions in quadrupedal robots,” in
M. Hassan, Y. Guo, T. Wang, M. Black, S. Fidler, and X. B. Peng, “Synthesizing physical character-scene interactions,” in
2023
Later among the works it cites.
D. Youm, H. Jung, H. Kim, J. Hwangbo, H.-W. Park, and S. Ha, “Imitating and finetuning model predictive control for robust and symmetric quadrupedal locomotion,”
2023
Later among the works it cites.
L. M. Smith, J. C. Kew, T. Li, L. Luu, X. B. Peng, S. Ha, J. Tan, and S. Levine, “Learning and Adapting Agile Locomotion Skills by Transferring Experience,” in
2023
Later among the works it cites.
D. Kang, J. Cheng, M. Zamora, F. Zargarbashi, and S. Coros, “Rl + model-based control: Using on-demand optimal control to learn versatile legged locomotion,”
2023
Later among the works it cites.
R. P. singh, Z. Xie, P. Gergondet, and F. Kanehiro, “Learning bipedal walking for humanoids with current feedback,”
2023
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2019
Cited alongside, same era.
K. Bouyarmane, K. Chappellet, J. Vaillant, and A. Kheddar, “Quadratic programming for multirobot and task-space force control,”
2019
Cited alongside, same era.
A. Patel, S. L. Shield, S. Kazi, A. M. Johnson, and L. T. Biegler, “Contact-implicit trajectory optimization using orthogonal collocation,”
2019
Cited alongside, same era.
H. Zhang, Y. Liu, and W. Zhou, “Deep adversarial imitation learning of locomotion skills from one-shot video demonstration,” in
2019
Cited alongside, same era.
N. Mahmood, N. Ghorbani, N. F. Troje, G. Pons-Moll, and M. J. Black, “AMASS: Archive of motion capture as surface shapes,” in
2019
Cited alongside, same era.
G. Cheng, K. Ramirez-Amaro, M. Beetz, and Y. Kuniyoshi, “Purposive learning: Robot reasoning about the meanings of human activities,”
2019
Cited alongside, same era.
N. Figueroa, S. Faraji, M. Koptev, and A. Billard, “A dynamical system approach for adaptive grasping, navigation and co-manipulation with humanoid robots,” in
2020
Cited alongside, same era.
D. Kim, S. J. Jorgensen, J. Lee, J. Ahn, J. Luo, and L. Sentis, “Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control,”
2020
Cited alongside, same era.
Later among the works it cites.
Y. Fuchioka, Z. Xie, and M. Van de Panne, “Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors,” in
2023
Later among the works it cites.
C. Tessler, Y. Kasten, Y. Guo, S. Mannor, G. Chechik, and X. B. Peng, “Calm: Conditional adversarial latent models for directable virtual characters,” in
2023
Later among the works it cites.
C. Yang, C. Pu, G. Xin, J. Zhang, and Z. Li, “Learning complex motor skills for legged robot fall recovery,”
2023
Later among the works it cites.
F. Al-Hafez, G. Zhao, J. Peters, and D. Tateo, “Locomujoco: A comprehensive imitation learning benchmark for locomotion,” in
2023
Later among the works it cites.
B. Liu, Y. Zhu, C. Gao, Y. Feng, Q. Liu, Y. Zhu, and P. Stone, “Libero: Benchmarking knowledge transfer for lifelong robot learning,”
2023
Later among the works it cites.
K. Grauman
2023
Later among the works it cites.
K. Werling, N. A. Bianco, M. Raitor, J. Stingel, J. L. Hicks, S. H. Collins, S. L. Delp, and C. K. Liu, “Addbiomechanics: Automating model scaling, inverse kinematics, and inverse dynamics from human motion data through sequential optimization,”
2023
Later among the works it cites.
OpenAI, “Gpt-4 technical report,” 2023
2023
Later among the works it cites.
A. Brohan
2023
Later among the works it cites.
B. Zitkovich
2023
Later among the works it cites.
Y. Jiang, A. Gupta, Z. Zhang, G. Wang, Y. Dou, Y. Chen, L. Fei-Fei, A. Anandkumar, Y. Zhu, and L. Fan, “Vima: General robot manipulation with multimodal prompts,” in
2023
Later among the works it cites.
J. Liang, W. Huang, F. Xia, P. Xu, K. Hausman, B. Ichter, P. Florence, and A. Zeng, “Code as policies: Language model programs for embodied control,” in
2023
Later among the works it cites.
I. Singh, V. Blukis, A. Mousavian, A. Goyal, D. Xu, J. Tremblay, D. Fox, J. Thomason, and A. Garg, “Progprompt: Generating situated robot task plans using large language models,” in
2023
Later among the works it cites.
2023
Later among the works it cites.
A. Gu and T. Dao, “Mamba: Linear-time sequence modeling with selective state spaces,”
2023
Later among the works it cites.
2023
Later among the works it cites.
M.-H. Park and B.-K. Cho, “Design of new drive mechanism for dynamic movement of humanoid robot legs,” in
2023
Later among the works it cites.
2024
Later among the works it cites.
C. Khazoom, S. Hong, M. Chignoli, E. Stanger-Jones, and S. Kim, “Tailoring solution accuracy for fast whole-body model predictive control of legged robots,”
2024
Later among the works it cites.
L. Zhao, Z. Yu, L. Han, X. Chen, X. Qiu, and Q. Huang, “Compliant motion control of wheel-legged humanoid robot on rough terrains,”
2024
Later among the works it cites.
P. M. Wensing, M. Posa, Y. Hu, A. Escande, N. Mansard, and A. D. Prete, “Optimization-based control for dynamic legged robots,”
2024
Later among the works it cites.
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song, “Diffusion policy: Visuomotor policy learning via action diffusion,”
2024
Later among the works it cites.
R. Firoozi
2024
Later among the works it cites.
L. Bao, J. Humphreys, T. Peng, and C. Zhou, “Deep reinforcement learning for bipedal locomotion: A brief survey,” 2024
2024
Later among the works it cites.
Y. Tong, H. Liu, and Z. Zhang, “Advancements in humanoid robots: A comprehensive review and future prospects,”
2024
Later among the works it cites.
J. Li, O. Kolt, and Q. Nguyen, “Continuous dynamic bipedal jumping via adaptive-model optimization,”
2024
Later among the works it cites.
S. Pardis, M. Chignoli, and S. Kim, “Probabilistic homotopy optimization for dynamic motion planning,” in
2024
Later among the works it cites.
Z. Li, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath, “Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control,”
2024
Later among the works it cites.
Z. Zhuang, S. Yao, and H. Zhao, “Humanoid parkour learning,” in
2024
Later among the works it cites.
I. Radosavovic, T. Xiao, B. Zhang, T. Darrell, J. Malik, and K. Sreenath, “Real-world humanoid locomotion with reinforcement learning,”
2024
Later among the works it cites.
2024
Later among the works it cites.
K. Muenprasitivej, J. Jiang, A. Shamsah, S. Coogan, and Y. Zhao, “Bipedal safe navigation over uncertain rough terrain: Unifying terrain mapping and locomotion stability,”
2024
Later among the works it cites.
2024
Later among the works it cites.
H. Duan, B. Pandit, M. S. Gadde, B. Van Marum, J. Dao, C. Kim, and A. Fern, “Learning vision-based bipedal locomotion for challenging terrain,” in
2024
Later among the works it cites.
A. Shamsah, J. Jiang, Z. Yoon, S. Coogan, and Y. Zhao, “Terrain-aware model predictive control of heterogeneous bipedal and aerial robot coordination for search and rescue tasks,” 2024
2024
Later among the works it cites.
Z. He, K. Lei, Y. Ze, K. Sreenath, Z. Li, and H. Xu, “Learning visual quadrupedal loco-manipulation from demonstrations,” 2024
2024
Later among the works it cites.
P. Arm, M. Mittal, H. Kolvenbach, and M. Hutter, “Pedipulate: Enabling manipulation skills using a quadruped robot’s leg,” in
2024
Later among the works it cites.
T. Portela, G. B. Margolis, Y. Ji, and P. Agrawal, “Learning force control for legged manipulation,” in
2024
Later among the works it cites.
M. Liu, Z. Chen, X. Cheng, Y. Ji, R. Qiu, R. Yang, and X. Wang, “Visual whole-body control for legged loco-manipulation,”
2024
Later among the works it cites.
2024
Later among the works it cites.
L. Fu, G. Datta, H. Huang, W. C.-H. Panitch, J. Drake, J. Ortiz, M. Mukadam, M. Lambeta, R. Calandra, and K. Goldberg, “A touch, vision, and language dataset for multimodal alignment,” in
2024
Later among the works it cites.
S. Yu, L. Kelvin, A. Xiao, J. Duan, and H. Soh, “Octopi: Object Property Reasoning with Large Tactile-Language Models,” in
2024
Later among the works it cites.
S. Dafarra
2024
Later among the works it cites.
S. Armleder, E. Dean-Leon, F. Bergner, J. R. Guadarrama Olvera, and G. Cheng, “Tactile-based negotiation of unknown objects during navigation in unstructured environments with movable obstacles,”
2024
Later among the works it cites.
I. Taouil, L. Amatucci, M. Khadiv, A. Dai, V. Barasuol, G. Turrisi, and C. Semini, “Non-gaited legged locomotion with monte-carlo tree search and supervised learning,”
2024
Later among the works it cites.
2024
Later among the works it cites.
S. Le Cleac’h, T. A. Howell, S. Yang, C.-Y. Lee, J. Zhang, A. Bishop, M. Schwager, and Z. Manchester, “Fast contact-implicit model predictive control,”
2024
Later among the works it cites.
A. Aydinoglu, A. Wei, W.-C. Huang, and M. Posa, “Consensus complementarity control for multi-contact mpc,”
2024
Later among the works it cites.
2024
Later among the works it cites.
L. Callens, J. Gillis, W. Decré, and J. Swevers, “Adaptivenlp: a framework for efficient online adaptability in nlp structures for optimal control problems,” in
2024
Later among the works it cites.
A. Bishop, J. Zhang, S. Gurumurthy, K. Tracy, and Z. Manchester, “Relu-qp: A gpu-accelerated quadratic programming solver for model-predictive control,” in
2024
Later among the works it cites.
G. Turrisi, V. Modugno, L. Amatucci, D. Kanoulas, and C. Semini, “On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion,”
2024
Later among the works it cites.
J. Foster, S. McCrory, C. DeBuys, S. Bertrand, and R. J. Griffin, “Physically consistent online inertial adaptation for humanoid loco-manipulation,”
2024
Later among the works it cites.
S. H. Bang, J. Lee, C. Gonzalez, and L. Sentis, “Variable inertia model predictive control for fast bipedal maneuvers,” in
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
S. Yu, N. Perera, D. Marew, and D. Kim, “Learning generic and dynamic locomotion of humanoids across discrete terrains,” in
2024
Later among the works it cites.
2024
Later among the works it cites.
T. He, Z. Luo, X. He, W. Xiao, C. Zhang, W. Zhang, K. M. Kitani, C. Liu, and G. Shi, “Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning,” in
2024
Later among the works it cites.
Z. Fu, Q. Zhao, Q. Wu, G. Wetzstein, and C. Finn, “Humanplus: Humanoid shadowing and imitation from humans,” in
2024
Later among the works it cites.
Sharanya Puthige Venkatesh, “Approximating global mpc for contact rich manipulation using local feedback,” Master’s thesis, University of Pennsylvania, 2024
2024
Later among the works it cites.
E. Adabag, M. Atal, W. Gerard, and B. Plancher, “Mpcgpu: Real-time nonlinear model predictive control through preconditioned conjugate gradient on the gpu,” in
2024
Later among the works it cites.
N. J. Kong, J. J. Payne, J. Zhu, and A. M. Johnson, “Saltation matrices: The essential tool for linearizing hybrid dynamical systems,”
2024
Later among the works it cites.
2024
Later among the works it cites.
C. Sartore, M. Rando, G. Romualdi, C. Molinari, L. Rosasco, and D. Pucci, “Automatic gain tuning for humanoid robots walking architectures using gradient-free optimization techniques,” in
2024
Later among the works it cites.
R. Jiang, B. He, Z. Wang, X. Cheng, H. Sang, and Y. Zhou, “Robot skill learning and the data dilemma it faces: a systematic review,”
2024
Later among the works it cites.
C. Zhang, W. Xiao, T. He, and G. Shi, “Wococo: Learning whole-body humanoid control with sequential contacts,” in
2024
Later among the works it cites.
T. Haarnoja
2024
Later among the works it cites.
X. Huang, Y. Chi, R. Wang, Z. Li, X. B. Peng, S. Shao, B. Nikolic, and K. Sreenath, “Diffuseloco: Real-time legged locomotion control with diffusion from offline datasets,” in
2024
Later among the works it cites.
C. Sferrazza, D.-M. Huang, X. Lin, Y. Lee, and P. Abbeel, “HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation,” in
2024
Later among the works it cites.
Y. Kim, H. Oh, J. Lee, J. Choi, G. Ji, M. Jung, D. Youm, and J. Hwangbo, “Not only rewards but also constraints: Applications on legged robot locomotion,”
2024
Later among the works it cites.
Y. Li, J. Li, W. Fu, and Y. Wu, “Learning agile bipedal motions on a quadrupedal robot,” in
2024
Later among the works it cites.
F. Wu, Z. Gu, H. Wu, A. Wu, and Y. Zhao, “Infer and adapt: Bipedal locomotion reward learning from demonstrations via inverse reinforcement learning,” in
2024
Later among the works it cites.
X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang, “Open-television: Teleoperation with immersive active visual feedback,” in
2024
Later among the works it cites.
A. Tang, T. Hiraoka, N. Hiraoka, F. Shi, K. Kawaharazuka, K. Kojima, K. Okada, and M. Inaba, “Humanmimic: Learning natural locomotion and transitions for humanoid robot via wasserstein adversarial imitation,” in
2024
Later among the works it cites.
Q. Zhang
2024
Later among the works it cites.
J. Li, Y. Zhu, Y. Xie, Z. Jiang, M. Seo, G. Pavlakos, and Y. Zhu, “Okami: Teaching humanoid robots manipulation skills through single video imitation,” in
2024
Later among the works it cites.
R. Cisneros-Limón
2024
Later among the works it cites.
2024
Later among the works it cites.
X. Xu, Y. Zhang, Y.-L. Li, L. Han, and C. Lu, “HumanVLA: Towards vision-language directed object rearrangement by physical humanoid,” in
2024
Later among the works it cites.
J. Juravsky, Y. Guo, S. Fidler, and X. B. Peng, “Superpadl: Scaling language-directed physics-based control with progressive supervised distillation,” in
2024
Later among the works it cites.
OpenAI, “Video generation models as world simulators,” 2024
2024
Later among the works it cites.
W. Zhu, X. Ma, D. Ro, H. Ci, J. Zhang, J. Shi, F. Gao, Q. Tian, and Y. Wang, “Human motion generation: A survey,”
2024
Later among the works it cites.
X. Cheng, Y. Ji, J. Chen, R. Yang, G. Yang, and X. Wang, “Expressive whole-body control for humanoid robots,” 2024
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
F. Jenelten, J. He, F. Farshidian, and M. Hutter, “Dtc: Deep tracking control,”
2024
Later among the works it cites.
D. Marew, N. Perera, S. Yu, S. Roelker, and D. Kim, “A biomechanics-inspired approach to soccer kicking for humanoid robots,” in
2024
Later among the works it cites.
2024
Later among the works it cites.
C. Li, E. Stanger-Jones, S. Heim, and S. bae Kim, “FLD: Fourier latent dynamics for structured motion representation and learning,” in
2024
Later among the works it cites.
Z. Luo, J. Cao, J. Merel, A. Winkler, J. Huang, K. M. Kitani, and W. Xu, “Universal humanoid motion representations for physics-based control,” in
2024
Later among the works it cites.
A. Serifi, R. Grandia, E. Knoop, M. Gross, and M. Bächer, “Vmp: Versatile motion priors for robustly tracking motion on physical characters,” in
2024
Later among the works it cites.
X. Gu, Y.-J. Wang, X. Zhu, C. Shi, Y. Guo, Y. Liu, and J. Chen, “Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning,” in
2024
Later among the works it cites.
H. Shi, T. Li, Q. Zhu, J. Sheng, L. Han, and M. Q.-H. Meng, “An efficient model-based approach on learning agile motor skills without reinforcement,” in
2024
Later among the works it cites.
J. Gao, Z. Wang, Z. Xiao, J. Wang, T. Wang, J. Cao, X. Hu, S. Liu, J. Dai, and J. Pang, “CooHOI: Learning cooperative human-object interaction with manipulated object dynamics,” in
2024
Later among the works it cites.
J. Dao, H. Duan, and A. Fern, “Sim-to-real learning for humanoid box loco-manipulation,” in
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
H. Qiao, “The q-series humanoid robot system developed by the institute of automation, chinese academy of sciences,” 2024
2024
Later among the works it cites.
J. Mao, S. Zhao, S. Song, T. Shi, J. Ye, M. Zhang, H. Geng, J. Malik, V. Guizilini, and Y. Wang, “Learning from massive human videos for universal humanoid pose control,”
2024
Later among the works it cites.
Y. J. Ma, W. Liang, G. Wang, D.-A. Huang, O. Bastani, D. Jayaraman, Y. Zhu, L. Fan, and A. Anandkumar, “Eureka: Human-level reward design via coding large language models,” in
2024
Later among the works it cites.
Y. J. Ma, W. Liang, H.-J. Wang, Y. Zhu, L. Fan, O. Bastani, and D. Jayaraman, “DrEureka: Language Model Guided Sim-To-Real Transfer,” in
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
J. Sun, Q. Zhang, Y. Duan, X. Jiang, C. Cheng, and R. Xu, “Prompt, plan, perform: Llm-based humanoid control via quantized imitation learning,” in
2024
Later among the works it cites.
J. Wang, R. Dai, W. Wang, L. Rossini, F. Ruscelli, and N. Tsagarakis, “HYPERmotion: Learning hybrid behavior planning for autonomous loco-manipulation,” in
2024
Later among the works it cites.
Z. Jiang, Y. Xie, J. Li, Y. Yuan, Y. Zhu, and Y. Zhu, “Harmon: Whole-body motion generation of humanoid robots from language descriptions,” in
2024
Later among the works it cites.
Z. Xiao, T. Wang, J. Wang, J. Cao, W. Zhang, B. Dai, D. Lin, and J. Pang, “Unified human-scene interaction via prompted chain-of-contacts,” in
2024
Later among the works it cites.
D. Totsila, Q. Rouxel, J.-B. Mouret, and S. Ivaldi, “Words2contact: Identifying support contacts from verbal instructions using foundation models,” in
2024
Later among the works it cites.
A. O’Neill
2024
Later among the works it cites.
D. Ghosh
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
2024
Later among the works it cites.
D. Kim, H. Woo, and Y. Lee, “Addressing bias and fairness using fair federated learning: A synthetic review,”
2024
Later among the works it cites.
A. Machín, C. Morant, and F. Márquez, “Advancements and challenges in solid-state battery technology: An in-depth review of solid electrolytes and anode innovations,”
2024
Later among the works it cites.
Apptronik, “Apptronik apollo,” 2024
2024
Later among the works it cites.
U. robotics, “Unitree h1 robot,” 2024
2024
Later among the works it cites.
A. Shamsah, K. Agarwal, N. Katta, A. Raju, S. Kousik, and Y. Zhao, “Socially acceptable bipedal robot navigation via social zonotope network model predictive control,”
2025
Closest in time.
2025
Closest in time.
I. Akinola, J. Xu, J. Carius, D. Fox, and Y. Narang, “Tacsl: A library for visuotactile sensor simulation and learning,”
2025
Closest in time.
2025
Closest in time.
S. H. Bang, C. Gonzalez, G. Moore, D. H. Kang, M. Seo, R. Gupta, and L. Sentis, “Rpc: A modular framework for robot planning, control, and deployment,” in
2025
Closest in time.
H. Lefèvre, T. Chaki, T. Kawakami, A. Tanguy, T. Yoshiike, and A. Kheddar, “Humanoid-human sit-to-stand-to-sit assistance,”
2025
Closest in time.
N. Hansen, J. S. V, V. Sobal, Y. LeCun, X. Wang, and H. Su, “Hierarchical world models as visual whole-body humanoid controllers,” in
2025
Closest in time.
M. J. Kim
2025
Closest in time.
G. R. Team
2025
Closest in time.
S. Liu, L. Wu, B. Li, H. Tan, H. Chen, Z. Wang, K. Xu, H. Su, and J. Zhu, “RDT-1b: a diffusion foundation model for bimanual manipulation,” in
2025
Closest in time.
Z. Zhuang and H. Zhao, “Embrace collisions: Humanoid shadowing for deployable contact-agnostics motions,” 2025
2025
Closest in time.