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Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed.
Development of wabot 1
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Ukemi: Falling motion control to minimize damage to biped humanoid robot
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The first humanoid robot that has the same size as a human and that can lie down and get up
Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Shuuji Kajita, Kazuhito Yokoi, Hirohisa Hirukawa, Kazuhiko Akachi, and Takakatsu Isozumi · 2003
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Zero-moment point—thirty five years of its life
Miomir Vukobratović and Branislav Borovac · 2004
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Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa, Shin’ichiro Nakaoka, and Mitsuharu Morisawa · 2007
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Curriculum learning
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Mabel, a new robotic bipedal walker and runner
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Libin Liu, KangKang Yin, Michiel van de Panne, Tianjia Shao, and Weiwei Xu · 2010
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Yuval Tassa, Tom Erez, and Emanuel Todorov · 2012
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A humanoid robot standing up through learning from demonstration using a multimodal reward function
Miguel González-Fierro, Carlos Balaguer, Nicola Swann, and Thrishantha Nanayakkara · 2013
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SMPL: a skinned multi-person linear model
Matthew Loper, Naureen Mahmood, Javier Romero, Gerard Pons-Moll, and Michael J. Black · 2015
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Faulty reward functions in the wild
Jack Clark and Dario Amodei · 2016
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Efficient learning of stand-up motion for humanoid robots with bilateral symmetry
Heejin Jeong and Daniel D. Lee · 2016
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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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Simulation-based design of dynamic controllers for humanoid balancing
Jie Tan, Zhaoming Xie, Byron Boots, and C Karen Liu · 2016
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Proximal policy optimization algorithms
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Walk-man: A high-performance humanoid platform for realistic environments
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Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 2018
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The darpa robotics challenge finals: Results and perspectives
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Deepmimic: example-guided deep reinforcement learning of physics-based character skills
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Learning agile and dynamic motor skills for legged robots
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Learning smooth humanoid locomotion through lipschitz-constrained policies
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Extreme parkour with legged robots
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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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Coohoi: Learning cooperative human-object interaction with manipulated object dynamics
Jiawei Gao, Ziqin Wang, Zeqi Xiao, Jingbo Wang, Tai Wang, Jinkun Cao, Xiaolin Hu, Si Liu, Jifeng Dai, and Jiangmiao Pang · 2024
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Frasa: An end-to-end reinforcement learning agent for fall recovery and stand up of humanoid robots
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The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, and Sangbae Kim · 2021
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Minimizing energy consumption leads to the emergence of gaits in legged robots
Zipeng Fu, Ashish Kumar, Jitendra Malik, 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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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, and Gavriel State · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
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Sample-efficient cross-entropy method for real-time planning
Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolinek, and Georg Martius · 2021
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Fast and reliable stand-up motions for humanoid robots using spline interpolation and parameter optimization
Sebastian Stelter, Marc Bestmann, Norman Hendrich, and Jianwei Zhang · 2021
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Clément Gaspard, Marc Duclusaud, Grégoire Passault, Mélodie Daniel, and Olivier Ly · 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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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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Learning humanoid locomotion with perceptive internal model
Junfeng Long, Junli Ren, Moji Shi, Zirui Wang, Tao Huang, Ping Luo, and Jiangmiao Pang · 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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Universal humanoid motion representations for physics-based control
Zhengyi Luo, Jinkun Cao, Josh Merel, Alexander Winkler, Jing Huang, Kris M. Kitani, and Weipeng Xu · 2024
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Learning from massive human videos for universal humanoid pose control
Jiageng Mao, Siheng Zhao, Siqi Song, Tianheng Shi, Junjie Ye, Mingtong Zhang, Haoran Geng, Jitendra Malik, Vitor Guizilini, and Yue Wang · 2024
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Leveraging symmetry in rl-based legged locomotion control
Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, and Koushil Sreenath · 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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Unitree G1: Humanoid Agent AI Avatar
Unitree · 2024
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Guardians as you fall: Active mode transition for safe falling
Yikai Wang, Mengdi Xu, Guanya Shi, and Ding Zhao · 2024
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Human-object interaction from human-level instructions
Zhen Wu, Jiaman Li, and C Karen Liu · 2024
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Full-order sampling-based mpc for torque-level locomotion control via diffusion-style annealing
Haoru Xue, Chaoyi Pan, Zeji Yi, Guannan Qu, and Guanya Shi · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts
Chong Zhang, Wenli Xiao, Tairan He, and Guanya Shi · 2024
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Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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Hierarchical world models as visual whole-body humanoid controllers
Anonymous · 2025
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Roboverse: Towards a unified platform, dataset and benchmark for scalable and generalizable robot learning, April 2025
Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Charlie Tianyue Cheng, Haozhe Lou, Peihao Li, Yen-Jen Wang, Yutong Liang, Dylan Goetting, Chaoyi Xu, Haozhe Chen, Yuxi Qian, Yiran Geng, Jiageng Mao, Weikang Wan, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Carlo Sferrazza, Hao Dong, Siyuan Huang, Koushil Sreenath, Yue Wang, Jitendra Malik, and Pieter Abbeel · 2025
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Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert Griffin, C Karen Liu, et al · 2025
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Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A Kahrs, et al · 2025
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Embrace collisions: Humanoid shadowing for deployable contact-agnostics motions
Ziwen Zhuang and Hang Zhao · 2025
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