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Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the ground.
Development of wabot 1
Ichiro Kato · 1973
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Dynamic walk of a biped
Hirofumi Miura and Isao Shimoyama · 1984
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Legged robots that balance
Marc H Raibert · 1986
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The development of honda humanoid robot
Kazuo Hirai, Masato Hirose, Yuji Haikawa, and Toru Takenaka · 1998
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Shuuji Kajita · 2001
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Hybrid zero dynamics of planar biped walkers
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Simbicon: Simple biped locomotion control
KangKang Yin, Kevin Loken, and Michiel Van de Panne · 2007
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Whole body humanoid control from human motion descriptors
Behzad Dariush, Michael Gienger, Bing Jian, Christian Goerick, and Kikuo Fujimura · 2008
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Solvability-unconcerned inverse kinematics by the levenberg–marquardt method
Tomomichi Sugihara · 2011
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Anymal-a highly mobile and dynamic quadrupedal robot
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Whole-body geometric retargeting for humanoid robots
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, and Daniele Pucci · 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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Whole-body control of humanoid robots
Federico L Moro and Luis Sentis · 2019
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A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot
Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, and Serena Ivaldi · 2019
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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, and Nicolas Mansard · 2020
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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Unicon: Universal neural controller for physics-based character motion, 2020
Tingwu Wang, Yunrong Guo, Maria Shugrina, and Sanja Fidler · 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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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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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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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
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Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, and Pulkit Agrawal · 2021
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The surprising effectiveness of representation learning for visual imitation
Jyothish Pari, Nur Muhammad Shafiullah, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, and Jonathan Hurst · 2021
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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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Learning humanoid locomotion with transformers
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, and Koushil Sreenath · 2023
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Deep imitation learning for humanoid loco-manipulation through human teleoperation
Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, and Yuke Zhu · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 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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Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
Cited alongside, same era.
From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2022
Cited alongside, same era.
Adversarial motion priors make good substitutes for complex reward functions
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, and Pieter Abbeel · 2022
Cited alongside, same era.
Learning deep sensorimotor policies for vision-based autonomous drone racing, 2022
Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza · 2022
Cited alongside, same era.
Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2022
Cited alongside, same era.
Rapid locomotion via reinforcement learning
Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2022
Cited alongside, same era.
A feasibility-driven approach to control-limited ddp
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, and Sethu Vijayakumar · 2022
Cited alongside, same era.
Legged locomotion in challenging terrains using egocentric vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2023
Cited alongside, same era.
Mimicplay: Long-horizon imitation learning by watching human play
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, and Anima Anandkumar · 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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Robot parkour learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher Atkeson, Sören Schwertfeger, Chelsea Finn, and Hang Zhao · 2023
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Zed Mini, Stereo Camera, 2024, www.robotis.us/dynamixel-xl330-m288-t , [Online, accessed Jun. 2024]
2024
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Pink: Python inverse kinematics based on Pinocchio, 2024
Stéphane Caron, Yann De Mont-Marin, Rohan Budhiraja, Seung Hyeon Bang, Ivan Domrachev, and Simeon Nedelchev · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 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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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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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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Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Shijie Zhao, Hyunyoung Jung, Sehoon Ha, Yue Chen, Danfei Xu, and Ye Zhao · 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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Yell at your robot: Improving on-the-fly from language corrections
Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, and Chelsea Finn · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Whole-body humanoid robot locomotion with human reference
Qiang Zhang, Peter Cui, David Yan, Jingkai Sun, Yiqun Duan, Arthur Zhang, and Renjing Xu · 2024
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Unitree Robotics, G1, 2024, www.unitree.com/g1 , [Online; accessed Jan. 2025]
2025
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