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General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life.
An algorithm for least-squares estimation of nonlinear parameters
Donald W Marquardt · 1963
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Learning structured output representation using deep conditional generative models
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel Van de Panne · 2018
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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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Reinforcement learning for robust parameterized locomotion control of bipedal robots
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Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, and Angjoo Kanazawa · 2021
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Learning transferable visual models from natural language supervision
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Chuan Guo, Shihao Zou, Xinxin Zuo, Sen Wang, Wei Ji, Xingyu Li, and Li Cheng · 2022
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Guided motion diffusion for controllable human motion synthesis
Korrawe Karunratanakul, Konpat Preechakul, Supasorn Suwajanakorn, and Siyu Tang · 2023
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Perpetual humanoid control for real-time simulated avatars
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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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Calm: Conditional adversarial latent models for directable virtual characters
Chen Tessler, Yoni Kasten, Yunrong Guo, Shie Mannor, Gal Chechik, and Xue Bin Peng · 2023
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Human motion diffusion model
Guy Tevet, Sigal Raab, Brian Gordon, Yoni Shafir, Daniel Cohen-or, and Amit Haim Bermano · 2023
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Simulation and retargeting of complex multi-character interactions
Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica Hodgins, Greg Turk, and Jungdam Won · 2023
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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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Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2024
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Flexible motion in-betweening with diffusion models
Setareh Cohan, Guy Tevet, Daniele Reda, Xue Bin Peng, and Michiel van de Panne · 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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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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Grasping diverse objects with simulated humanoids
Zhengyi Luo, Jinkun Cao, Sammy Christen, Alexander Winkler, Kris Kitani, and Weipeng Xu · 2024
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Learning from massive human videos for universal humanoid pose control
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Helei Duan, Bikram Pandit, Mohitvishnu S Gadde, Bart Van Marum, Jeremy Dao, Chanho Kim, and Alan Fern · 2024
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Learning multi-modal whole-body control for real-world humanoid robots
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Humanplus: Humanoid shadowing and imitation from humans
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Diffuseloco: Real-time legged locomotion control with diffusion from offline datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Sophia Shao, Borivoje Nikolic, and Koushil Sreenath · 2024
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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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Real-world humanoid locomotion with reinforcement learning
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Yi Shi, Jingbo Wang, Xuekun Jiang, Bingkun Lin, Bo Dai, and Xue Bin Peng · 2024
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Humanmimic: Learning natural locomotion and transitions for humanoid robot via wasserstein adversarial imitation
Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, and Masayuki Inaba · 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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Equivariant diffusion policy
Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, and Robert Platt · 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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Diffuse-cloc: Guided diffusion for physics-based character look-ahead control
Xiaoyu Huang, Takara Truong, Yunbo Zhang, Fangzhou Yu, Jean Pierre Sleiman, Jessica Hodgins, Koushil Sreenath, and Farbod Farshidian · 2025
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