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Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom.
A reduction of imitation learning and structured prediction to no-regret online learning
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Mujoco: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa · 2012
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Legibility and predictability of robot motion
A. D. Dragan, K. C. Lee, and S. S. Srinivasa · 2013
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Real-time imitation of human whole-body motions by humanoids
J. Koenemann, F. Burget, and M. Bennewitz · 2014
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Robust real-time whole-body motion retargeting from human to humanoid
L. Penco, B. Clément, V. Modugno, E. M. Hoffman, G. Nava, D. Pucci, N. G. Tsagarakis, J.-B. Mouret, and S. Ivaldi · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
X. B. Peng, P. Abbeel, S. Levine, and M. Van de Panne · 2018
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A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot
L. Penco, N. Scianca, V. Modugno, L. Lanari, G. Oriolo, and S. Ivaldi · 2019
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Whole-body geometric retargeting for humanoid robots
K. Darvish, Y. Tirupachuri, G. Romualdi, L. Rapetti, D. Ferigo, F. J. A. Chavez, and D. Pucci · 2019
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Amass: Archive of motion capture as surface shapes
N. Mahmood, N. Ghorbani, N. F. Troje, G. Pons-Moll, and M. J. Black · 2019
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Isaac gym: High performance gpu-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, et al · 2021
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Learning to walk in minutes using massively parallel deep reinforcement learning
N. Rudin, D. Hoeller, P. Reist, and M. Hutter · 2022
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Teleoperation of humanoid robots: A survey
K. Darvish, L. Penco, J. Ramos, R. Cisneros, J. Pratt, E. Yoshida, S. Ivaldi, and D. Pucci · 2023
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Perpetual humanoid control for real-time simulated avatars
Z. Luo, J. Cao, K. Kitani, W. Xu, et al · 2023
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Object motion guided human motion synthesis
J. Li, J. Wu, and C. K. Liu · 2023
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icub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
S. Dafarra, U. Pattacini, G. Romualdi, L. Rapetti, R. Grieco, K. Darvish, G. Milani, E. Valli, I. Sorrentino, P. M. Viceconte, et al · 2024
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Learning visual quadrupedal loco-manipulation from demonstrations
Z. He, K. Lei, Y. Ze, K. Sreenath, Z. Li, and H. Xu · 2024
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Humanplus: Humanoid shadowing and imitation from humans
Z. Fu, Q. Zhao, Q. Wu, G. Wetzstein, and C. Finn · 2024
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Learning smooth humanoid locomotion through lipschitz-constrained policies
Z. Chen, X. He, Y.-J. Wang, Q. Liao, Y. Ze, Z. Li, S. S. Sastry, J. Wu, K. Sreenath, S. Gupta, et al · 2024
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Advancing humanoid locomotion: Mastering challenging terrains with denoising world model learning
Learning human-to-humanoid real-time whole-body teleoperation
T. He, Z. Luo, W. Xiao, C. Zhang, K. Kitani, C. Liu, and G. Shi · 2024
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Wham: Reconstructing world-grounded humans with accurate 3d motion
S. Shin, J. Kim, E. Halilaj, and M. J. Black · 2024
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Mink: Python inverse kinematics based on MuJoCo, July 2024
K. Zakka · 2024
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Mind the mapping: How motion retargeting choices impact sim2real success
A. Authors · 2025
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A unified and general humanoid whole-body controller for fine-grained locomotion
Y. Xue, W. Dong, M. Liu, W. Zhang, and J. Pang · 2025
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X. Gu, Y.-J. Wang, X. Zhu, C. Shi, Y. Guo, Y. Liu, and J. Chen · 2024
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Learning h-infinity locomotion control
J. Long, W. Yu, Q. Li, Z. Wang, D. Lin, and J. Pang · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts, 2024
C. Zhang, W. Xiao, T. He, and G. Shi · 2024
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Z. Zhuang, S. Yao, and H. Zhao · 2024
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Expressive whole-body control for humanoid robots
X. Cheng, Y. Ji, J. Chen, R. Yang, G. Yang, and X. Wang · 2024
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Exbody2: Advanced expressive humanoid whole-body control
M. Ji, X. Peng, F. Liu, J. Li, G. Yang, X. Cheng, and X. Wang · 2024
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Generalizable humanoid manipulation with 3d diffusion policies
Y. Ze, Z. Chen, W. Wang, T. Chen, X. He, Y. Yuan, X. B. Peng, and J. Wu · 2024
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Open-television: Teleoperation with immersive active visual feedback
X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang · 2024
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T. Huang, J. Ren, H. Wang, Z. Wang, Q. Ben, M. Wen, X. Chen, J. Li, and J. Pang · 2025
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Embrace collisions: Humanoid shadowing for deployable contact-agnostics motions
Z. Zhuang and H. Zhao · 2025
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Learning getting-up policies for real-world humanoid robots
X. He, R. Dong, Z. Chen, and S. Gupta · 2025
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Homie: Humanoid loco-manipulation with isomorphic exoskeleton cockpit
Q. Ben, F. Jia, J. Zeng, J. Dong, D. Lin, and J. Pang · 2025
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Y. Jiang, R. Zhang, J. Wong, C. Wang, Y. Ze, H. Yin, C. Gokmen, S. Song, J. Wu, and L. Fei-Fei · 2025
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Optitrack - motion capture systems, 2025
NaturalPoint, Inc · 2025
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Unitree G1 Humanoid Robot
Unitree Robotics · 2025
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Booster t1 humanoid robot
Booster Robotics · 2025
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