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Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation.
Dynamic walk of a biped
Hirofumi Miura and Isao Shimoyama · 1984
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A glove-based system for studying hand-object manipulation via joint pose and force sensing
Hangxin Liu, Xu Xie, Matt Millar, Mark Edmonds, Feng Gao, Yixin Zhu, Veronica J Santos, Brandon Rothrock, and Song-Chun Zhu · 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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AMASS: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F. Troje, Gerard Pons-Moll, and Michael J. Black · 2019
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High-fidelity grasping in virtual reality using a glove-based system
Hangxin Liu, Zhenliang Zhang, Xu Xie, Yixin Zhu, Yue Liu, Yongtian Wang, and Song-Chun Zhu · 2019
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Whole-body control of humanoid robots
Federico L Moro and Luis Sentis · 2019
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SAPIEN: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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A systematic review of commercial smart gloves: Current status and applications
Manuel Caeiro-Rodríguez, Iván Otero-González, Fernando A Mikic-Fonte, and Martín Llamas-Nistal · 2021
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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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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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Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on YouTube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators, 2023
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 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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Optimization-based control for dynamic legged robots
Patrick M Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, and Andrea Del Prete · 2023
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Universal humanoid motion representations for physics-based control
Zhengyi Luo, Jinkun Cao, Josh Merel, Alexander Winkler, Jing Huang, Kris Kitani, and Weipeng Xu · 2023
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
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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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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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Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning
Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, and Guanya Shi · 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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Visual whole-body control for legged loco-manipulation
Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, and Xiaolong Wang · 2024
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Roboduet: A framework affording mobile-manipulation and cross-embodiment
Guoping Pan, Qingwei Ben, Zhecheng Yuan, Guangqi Jiang, Yandong Ji, Jiangmiao Pang, Houde Liu, and Huazhe Xu · 2024
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Whole-body end-effector pose tracking
Tifanny Portela, Andrei Cramariuc, Mayank Mittal, and Marco Hutter · 2024
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Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, and Shuran Song · 2024
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Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, and Xiaolong Wang · 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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Open-television: Teleoperation with immersive active visual feedback
Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, and Xiaolong Wang · 2024
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Ace: A cross-platform visual-exoskeletons system for low-cost dexterous teleoperation
Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, and Xiaolong Wang · 2024
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Generalizable humanoid manipulation with improved 3d diffusion policies
Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, and Jiajun Wu · 2024
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Open teach: A versatile teleoperation system for robotic manipulation
Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, and Lerrel Pinto · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, and C Karen Liu · 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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Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, and Jianyu Chen · 2024
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Learning humanoid locomotion with perceptive internal model, 2024
Junfeng Long, Junli Ren, Moji Shi, Zirui Wang, Tao Huang, Ping Luo, and Jiangmiao Pang · 2024
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Learning smooth humanoid locomotion through lipschitz-constrained policies
Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, et al · 2024
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Learning multi-modal whole-body control for real-world humanoid robots
Pranay Dugar, Aayam Shrestha, Fangzhou Yu, Bart van Marum, and Alan Fern · 2024
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Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control
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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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Wococo: Learning whole-body humanoid control with sequential contacts
Chong Zhang, Wenli Xiao, Tairan He, and Guanya Shi · 2024
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Humanoid parkour learning
Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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Hybrid internal model: Learning agile legged locomotion with simulated robot response
Junfeng Long, Zirui Wang, Quanyi Li, Liu Cao, Jiawei Gao, and Jiangmiao Pang · 2024
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Leveraging symmetry in rl-based legged locomotion control
Zhi Su, Xiaoyu Huang, Daniel Ordoñez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, et al · 2024
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3d vitac:learning fine-grained manipulation with visuo-tactile sensing
Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, and Yunzhu Li · 2024
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Grutopia: Dream general robots in a city at scale
Hanqing Wang, Jiahe Chen, Wensi Huang, Qingwei Ben, Tai Wang, Boyu Mi, Tao Huang, Siheng Zhao, Yilun Chen, Sizhe Yang, et al · 2024
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Predictive inverse dynamics models are scalable learners for robotic manipulation
Yang Tian, Sizhe Yang, Jia Zeng, Ping Wang, Dahua Lin, Hao Dong, and Jiangmiao Pang · 2024
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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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