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Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence.
The intelligent ASIMO: system overview and integration
Yoshiaki Sakagami, Ryujin Watanabe, Chiaki Aoyama, Shinichi Matsunaga, Nobuo Higaki, and Kikuo Fujimura · 2002
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A whole-body control framework for humanoids operating in human environments
Luis Sentis and Oussama Khatib · 2006
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A biped pattern generation allowing immediate modification of foot placement in real-time
Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shinichiro Nakaoka, and Hirohisa Hirukawa · 2006
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An analytical method for real-time gait planning for humanoid robots
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, and Hirohisa Hirukawa · 2006
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Trajectory free linear model predictive control for stable walking in the presence of strong perturbations
Pierre-Brice Wieber · 2006
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Mechatronic design of NAO humanoid
David Gouaillier, Vincent Hugel, Pierre Blazevic, Chris Kilner, Jérôme Monceaux, Pascal Lafourcade, Brice Marnier, Julien Serre, and Bruno Maisonnier · 2009
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Optimal transport: old and new , volume 338
Cédric Villani et al · 2009
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Valkyrie: Nasa’s first bipedal humanoid robot
Nicolaus A. Radford, Philip Strawser, Kimberly A. Hambuchen, Joshua S. Mehling, William K. Verdeyen, A. Stuart Donnan, James Holley, Jairo Sanchez, Vienny Nguyen, Lyndon B. Bridgwater, Reginald Berka, Robert O. Ambrose, Mason Myles Markee, N. J. Fraser-Chanpong, Christopher McQuin, John D. Yamokoski, Stephen Hart, Raymond Guo, Adam Parsons, Brian Wightman, Paul Dinh, Barrett Ames, Charles Blakely, Courtney Edmondson, Brett Sommers, Rochelle Rea, Chad Tobler, Heather Bibby, Brice Howard, Lei Niu, Andrew Lee, Michael Conover, Lily Truong, Ryan Reed, David Chesney, Robert Platt Jr., Gwendolyn Johnson, Chien-Liang Fok, Nicholas Paine, Luis Sentis, Eric A. Cousineau, Ryan W. Sinnet, Jordan Lack, Matthew J. Powell, Benjamin Morris, Aaron D. Ames, and Jide Akinyode · 2015
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Generative adversarial imitation learning
Jonathan Ho and Stefano Ermon · 2016
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Robust dynamic walking using online foot step optimization
Siyuan Feng, X Xinjilefu, Christopher G Atkeson, and Joohyung Kim · 2016
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Imitation learning: A survey of learning methods
Ahmed Hussein, Mohamed Medhat Gaber, Eyad Elyan, and Chrisina Jayne · 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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A comprehensive survey on humanoid robot development
Saeed Saeedvand, Masoumeh Jafari, Hadi S. Aghdasi, and Jacky Baltes · 2019
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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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Constrained reinforcement learning has zero duality gap
Santiago Paternain, Luiz F. O. Chamon, Miguel Calvo-Fullana, and Alejandro Ribeiro · 2019
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f-gail: Learning f-divergence for generative adversarial imitation learning
Xin Zhang, Yanhua Li, Ziming Zhang, and Zhi-Li Zhang · 2020
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Mpc for humanoid gait generation: Stability and feasibility
Nicola Scianca, Daniele De Simone, Leonardo Lanari, and Giuseppe Oriolo · 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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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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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
Cited alongside, same era.
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
Cited alongside, same era.
Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
Cited alongside, same era.
Reinforcement learning with evolutionary trajectory generator: A general approach for quadrupedal locomotion
Haojie Shi, Bo Zhou, Hongsheng Zeng, Fan Wang, Yueqiang Dong, Jiangyong Li, Kang Wang, Hao Tian, and Max Q-H Meng · 2022
Humanoid parkour learning
Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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Real-world humanoid locomotion with reinforcement learning
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, and Koushil Sreenath · 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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Learning vision-based bipedal locomotion for challenging terrain
Helei Duan, Bikram Pandit, Mohitvishnu S Gadde, Bart Van Marum, Jeremy Dao, Chanho Kim, and Alan Fern · 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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Cited alongside, same era.
Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
Cited alongside, same era.
Robust reinforcement learning: A review of foundations and recent advances
Janosch Moos, Kay Hansel, Hany Abdulsamad, Svenja Stark, Debora Clever, and Jan Peters · 2022
Cited alongside, same era.
Robust learning from observation with model misspecification
Luca Viano, Yu-Ting Huang, Parameswaran Kamalaruban, Craig Innes, Subramanian Ramamoorthy, and Adrian Weller · 2022
Cited alongside, same era.
Sim-to-real transfer for quadrupedal locomotion via terrain transformer
Hang Lai, Weinan Zhang, Xialin He, Chen Yu, Zheng Tian, Yong Yu, and Jun Wang · 2023
Cited alongside, same era.
Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
I Made Aswin Nahrendra, Byeongho Yu, and Hyun Myung · 2023
Cited alongside, same era.
Learning torque control for quadrupedal locomotion
Shuxiao Chen, Bike Zhang, Mark W Mueller, Akshara Rai, and Koushil Sreenath · 2023
Cited alongside, same era.
Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2023
Cited alongside, same era.
Humanplus: Humanoid shadowing and imitation from humans
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, and Chelsea Finn · 2024
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Dohyeong Kim, Hyeokjin Kwon, Junseok Kim, Gunmin Lee, and Songhwai Oh · 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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Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, and Stelian Coros · 2024
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Adapting humanoid locomotion over challenging terrain via two-phase training
Wenhao Cui, Shengtao Li, Huaxing Huang, Bangyu Qin, Tianchu Zhang, Liang Zheng, Ziyang Tang, Chenxu Hu, NING Yan, Jiahao Chen, 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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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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Toward understanding key estimation in learning robust humanoid locomotion
Zhicheng Wang, Wandi Wei, Ruiqi Yu, Jun Wu, and Qiuguo Zhu · 2024
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Learning perceptive humanoid locomotion over challenging terrain
Wandong Sun, Baoshi Cao, Long Chen, Yongbo Su, Yang Liu, Zongwu Xie, and Hong Liu · 2025
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Asap: Aligning simulation and real-world physics for learning agile humanoid whole-body skills
Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, et al · 2025
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Twist: Teleoperated whole-body imitation system
Yanjie Ze, Zixuan Chen, JoÃĢo Pedro AraÚjo, Zi-ang Cao, Xue Bin Peng, Jiajun Wu, and C Karen Liu · 2025
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Amo: Adaptive motion optimization for hyper-dexterous humanoid whole-body control
Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu, and Xiaolong Wang · 2025
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Humanoid whole-body locomotion on narrow terrain via dynamic balance and reinforcement learning
Weiji Xie, Chenjia Bai, Jiyuan Shi, Junkai Yang, Yunfei Ge, Weinan Zhang, and Xuelong Li · 2025
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