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Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills.
System identification—a survey
Karl Johan Åström and Peter Eykhoff · 1971
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Estimation of inertial parameters of rigid body links of manipulators
Chae H An, Christopher G Atkeson, and John M Hollerbach · 1985
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Parameter identification of robot dynamics
Pradeep K Khosla and Takeo Kanade · 1985
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System identification techniques
F Kozin and HG Natke · 1986
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Dynamic identification of a 6 dof robot without joint position data
Maxime Gautier, Pierre-Olivier Vandanjon, and Alexandre Janot · 2011
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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A generic instrumental variable approach for industrial robot identification
Alexandre Janot, Pierre-Olivier Vandanjon, and Maxime Gautier · 2013
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Preparing for the unknown: Learning a universal policy with online system identification
Wenhao Yu, Jie Tan, C Karen Liu, and Greg Turk · 2017
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Sim-to-real transfer of robotic control with dynamics randomization
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Tom Silver, Kelsey Allen, Josh Tenenbaum, and Leslie Kaelbling · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, and Vincent Vanhoucke · 2018
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Policy transfer with strategy optimization
Wenhao Yu, C Karen Liu, and Greg Turk · 2018
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, and Dieter Fox · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
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Residual reinforcement learning for robot control
Tobias Johannink, Shikhar Bahl, Ashvin Nair, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2019
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Using deep reinforcement learning to learn high-level policies on the atrias biped
Tianyu Li, Hartmut Geyer, Christopher G Atkeson, and Akshara Rai · 2019
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Bayessim: adaptive domain randomization via probabilistic inference for robotics simulators
Fabio Ramos, Rafael Carvalhaes Possas, and Dieter Fox · 2019
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Neural lander: Stable drone landing control using learned dynamics
Guanya Shi, Xichen Shi, Michael O’Connell, Rose Yu, Kamyar Azizzadenesheli, Animashree Anandkumar, Yisong Yue, and Soon-Jo Chung · 2019
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Sim-to-real transfer for biped locomotion
Wenhao Yu, Visak CV Kumar, Greg Turk, and C Karen Liu · 2019
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An iterative approach for accurate dynamic model identification of industrial robots
Yong Han, Jianhua Wu, Chao Liu, and Zhenhua Xiong · 2020
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Reinforced grounded action transformation for sim-to-real transfer
Haresh Karnan, Siddharth Desai, Josiah P Hanna, Garrett Warnell, and Peter Stone · 2020
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Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control
Donghyun Kim, Steven Jens Jorgensen, Jaemin Lee, Junhyeok Ahn, Jianwen Luo, and Luis Sentis · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Learning locomotion skills for cassie: Iterative design and sim-to-real
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, and Michiel Panne · 2020
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Learning fast adaptation with meta strategy optimization
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, and Sehoon Ha · 2020
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Residual reinforcement learning from demonstrations
Minttu Alakuijala, Gabriel Dulac-Arnold, Julien Mairal, Jean Ponce, and Cordelia Schmid · 2021
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Auto-tuned sim-to-real transfer
Yuqing Du, Olivia Watkins, Trevor Darrell, Pieter Abbeel, and Deepak Pathak · 2021
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Rma: Rapid motor adaptation for legged robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2021
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Isaac gym: High performance gpu based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Data-efficient domain randomization with bayesian optimization
Fabio Muratore, Christian Eilers, Michael Gienger, and Jan Peters · 2021
Cited alongside, same era.
In-hand object rotation via rapid motor adaptation
Haozhi Qi, Ashish Kumar, Roberto Calandra, Yi Ma, and Jitendra Malik · 2023
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Adaptsim: Task-driven simulation adaptation for sim-to-real transfer
Allen Z Ren, Hongkai Dai, Benjamin Burchfiel, and Anirudha Majumdar · 2023
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Physhoi: Physics-based imitation of dynamic human-object interaction
Yinhuai Wang, Jing Lin, Ailing Zeng, Zhengyi Luo, Jian Zhang, and Lei Zhang · 2023
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Learning physically simulated tennis skills from broadcast videos
YE YUAN and Viktor Makoviychuk · 2023
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From imitation to refinement–residual rl for precise assembly
Lars Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne, and Pulkit Agrawal · 2024
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Neural-swarm2: Planning and control of heterogeneous multirotor swarms using learned interactions
Guanya Shi, Wolfgang Hönig, Xichen Shi, Yisong Yue, and Soon-Jo Chung · 2021
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A bayesian treatment of real-to-sim for deformable object manipulation
Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, and Jeannette Bohg · 2022
Cited alongside, same era.
Residual robot learning for object-centric probabilistic movement primitives
Joao Carvalho, Dorothea Koert, Marek Daniv, and Jan Peters · 2022
Cited alongside, same era.
Residual learning from demonstration: Adapting dmps for contact-rich manipulation
Todor Davchev, Kevin Sebastian Luck, Michael Burke, Franziska Meier, Stefan Schaal, and Subramanian Ramamoorthy · 2022
Cited alongside, same era.
Probabilistic inference of simulation parameters via parallel differentiable simulation
Eric Heiden, Christopher E Denniston, David Millard, Fabio Ramos, and Gaurav S Sukhatme · 2022
Cited alongside, same era.
Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion
Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, and Jemin Hwangbo · 2022
Cited alongside, same era.
Combining learned and analytical models for predicting action effects from sensory data
Alina Kloss, Stefan Schaal, and Jeannette Bohg · 2022
Cited alongside, same era.
Later among the works it cites.
Genesis: A universal and generative physics engine for robotics and beyond, December 2024
Genesis Authors · 2024
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Learning and deploying robust locomotion policies with minimal dynamics randomization
Luigi Campanaro, Siddhant Gangapurwala, Wolfgang Merkt, and Ioannis Havoutis · 2024
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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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Iterative residual policy: for goal-conditioned dynamic manipulation of deformable objects
Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, and Shuran Song · 2024
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Humanplus: Humanoid shadowing and imitation from humans
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, and Chelsea Finn · 2024
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Advancing humanoid locomotion: Mastering challenging terrains with denoising world model learning
Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, and Jianyu Chen · 2024
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Exbody2: Advanced expressive humanoid whole-body control
Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, and Xiaolong Wang · 2024
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Transic: Sim-to-real policy transfer by learning from online correction
Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, and Li Fei-Fei · 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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Berkeley humanoid: A research platform for learning-based control
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, and Koushil Sreenath · 2024
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Mobile-television: Predictive motion priors for humanoid whole-body control
Chenhao Lu, Xuxin Cheng, Jialong Li, Shiqi Yang, Mazeyu Ji, Chengjing Yuan, Ge Yang, Sha Yi, and Xiaolong Wang · 2024
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Rl2ac: Reinforcement learning-based rapid online adaptive control for legged robot robust locomotion
Shangke Lyu, Xin Lang, Han Zhao, Hongyin Zhang, Pengxiang Ding, and Donglin Wang · 2024
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Rapid locomotion via reinforcement learning
Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2024
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Humanoid locomotion as next token prediction. arxiv. 2024
I Radosavovic, B Zhang, B Shi, J Rajasegaran, S Kamat, T Darrell, K Sreenath, and J Malik · 2024
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Pip-loco: A proprioceptive infinite horizon planning framework for quadrupedal robot locomotion
Aditya Shirwatkar, Naman Saxena, Kishore Chandra, and Shishir Kolathaya · 2024
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Maskedmimic: Unified physics-based character control through masked motion inpainting
Chen Tessler, Yunrong Guo, Ofir Nabati, Gal Chechik, and Xue Bin Peng · 2024
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Strategy and skill learning for physics-based table tennis animation
Jiashun Wang, Jessica Hodgins, and Jungdam Won · 2024
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Loopsr: Looping sim-and-real for lifelong policy adaptation of legged robots
Peilin Wu, Weiji Xie, Jiahang Cao, Hang Lai, and Weinan Zhang · 2024
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Anycar to anywhere: Learning universal dynamics model for agile and adaptive mobility
Wenli Xiao, Haoru Xue, Tony Tao, Dvij Kalaria, John M Dolan, and Guanya Shi · 2024
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Agile continuous jumping in discontinuous terrains
Yuxiang Yang, Guanya Shi, Changyi Lin, Xiangyun Meng, Rosario Scalise, Mateo Guaman Castro, Wenhao Yu, Tingnan Zhang, Ding Zhao, Jie Tan, et al · 2024
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Whole-body humanoid robot locomotion with human reference
Qiang Zhang, Peter Cui, David Yan, Jingkai Sun, Yiqun Duan, Gang Han, Wen Zhao, Weining Zhang, Yijie Guo, Arthur Zhang, et al · 2024
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Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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Tram: Global trajectory and motion of 3d humans from in-the-wild videos
Yufu Wang, Ziyun Wang, Lingjie Liu, and Kostas Daniilidis · 2025
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Ai for humanoid robotics - a lecture by mentee robotics’ ceo, prof. lior wolf
Lior Wolf · 2025
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