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Humanoid teleoperation plays a vital role in demonstrating and collecting data for complex humanoid-scene interactions.
Task-priority based redundancy control of robot manipulators
Y. Nakamura, H. Hanafusa, and T. Yoshikawa · 1987
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A unified approach for motion and force control of robot manipulators: The operational space formulation
O. Khatib · 2003
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Whole-body dynamic behavior and control of human-like robots
O. Khatib, L. Sentis, J. Park, and J. Warren · 2004
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Synthesis of whole-body behaviors through hierarchical control of behavioral primitives
L. Sentis and O. Khatib · 2005
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Battlefield Extraction-Assist Robot (BEAR)
Vecna Robotics · 2006
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Autonomous Shipboard Humanoid (ASH)
U.S. Naval Research Laboratory · 2012
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Learning of compliant human–robot interaction using full-body haptic interface
L. Peternel and J. Babič · 2013
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Humanoid robot teleoperation with vibrotactile based balancing feedback
A. Brygo, I. Sarakoglou, N. Garcia-Hernandez, and N. Tsagarakis · 2014
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An overview of null space projections for redundant, torque-controlled robots
A. Dietrich, C. Ott, and A. Albu-Schäffer · 2015
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Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios
B. Henze, M. A. Roa, and C. Ott · 2016
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Improved computation of the humanoid centroidal dynamics and application for whole-body control
P. M. Wensing and D. E. Orin · 2016
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Humanoid robotics—history, current state of the art, and challenges
T. Fukuda, P. Dario, and G.-Z. Yang · 2017
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Dynamic humanoid locomotion: A scalable formulation for hzd gait optimization
A. Hereid, C. M. Hubicki, E. A. Cousineau, and A. D. Ames · 2018
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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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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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Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation
J. Ramos and S. Kim · 2019
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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 control of humanoid robots
F. L. Moro and L. Sentis · 2019
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Telesar vi: Telexistence surrogate anthropomorphic robot vi
S. Tachi, Y. Inoue, and F. Kato · 2020
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Multi-expert learning of adaptive legged locomotion
C. Yang, K. Yuan, Q. Zhu, W. Yu, and Z. Li · 2020
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Robust motion in-betweening
F. G. Harvey, M. Yurick, D. Nowrouzezahrai, and C. Pal · 2020
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Humanoid loco-manipulation of pushed carts utilizing virtual reality teleoperation
J. Chagas Vaz, D. Wallace, and P. Y. Oh · 2021
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Integrated task and motion planning
C. R. Garrett, R. Chitnis, R. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2021
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Amp: Adversarial motion priors for stylized physics-based character control
X. B. Peng, Z. Ma, P. Abbeel, S. Levine, and A. Kanazawa · 2021
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Fast-lio2: Fast direct lidar-inertial odometry
W. Xu, Y. Cai, D. He, J. Lin, and F. Zhang · 2022
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Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey
M. Moniruzzaman, A. Rassau, D. Chai, and S. M. S. Islam · 2022
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On the convergence of stochastic multi-objective gradient manipulation and beyond
Learning agile soccer skills for a bipedal robot with deep reinforcement learning
T. Haarnoja, B. Moran, G. Lever, S. H. Huang, D. Tirumala, J. Humplik, M. Wulfmeier, S. Tunyasuvunakool, N. Y. Siegel, R. Hafner, et al · 2024
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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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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, 2024
M. Ji, X. Peng, F. Liu, J. Li, G. Yang, X. Cheng, and X. Wang · 2024
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Germ: A generalist robotic model with mixture-of-experts for quadruped robot
W. Song, H. Zhao, P. Ding, C. Cui, S. Lyu, Y. Fan, and D. Wang · 2024
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S. Zhou, W. Zhang, J. Jiang, W. Zhong, J. GU, and W. Zhu · 2022
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Learning soccer juggling skills with layer-wise mixture-of-experts
Z. Xie, S. Starke, H. Y. Ling, and M. van de Panne · 2022
Cited alongside, same era.
Planning sequential tasks on contact graph
Z. Jiao, Y. Niu, Z. Zhang, S.-C. Zhu, Y. Zhu, and H. Liu · 2022
Cited alongside, same era.
Vilens: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D. Wisth, M. Camurri, and M. Fallon · 2022
Cited alongside, same era.
Humanise: Language-conditioned human motion generation in 3d scenes
Z. Wang, Y. Chen, T. Liu, Y. Zhu, W. Liang, and S. Huang · 2022
Cited alongside, same era.
Teleoperation of humanoid robots: A survey
K. Darvish, L. Penco, J. Ramos, R. Cisneros, J. Pratt, E. Yoshida, S. Ivaldi, and D. Pucci · 2023
Cited alongside, same era.
Multi-task reinforcement learning with attention-based mixture of experts
G. Cheng, L. Dong, W. Cai, and C. Sun · 2023
Cited alongside, same era.
Z. Lin, Y. Chen, and Z. Liu · 2024
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Tac-man: Tactile-informed prior-free manipulation of articulated objects
Z. Zhao, Y. Li, W. Li, Z. Qi, L. Ruan, Y. Zhu, and K. Althoefer · 2024
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Closed-loop open-vocabulary mobile manipulation with gpt-4v
P. Zhi, Z. Zhang, M. Han, Z. Zhang, Z. Li, Z. Jiao, B. Jia, and S. Huang · 2024
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Leg-kilo: Robust kinematic-inertial-lidar odometry for dynamic legged robots
G. Ou, D. Li, and H. Li · 2024
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Grove: A generalized reward for learning open-vocabulary physical skill
J. Cui, T. Liu, Z. Meng, J. Yu, R. Song, W. Zhang, Y. Zhu, and S. Huang · 2025
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Generalizable humanoid manipulation with improved 3d diffusion policies
Y. Ze, Z. Chen, W. Wang, T. Chen, X. He, Y. Yuan, X. B. Peng, and J. Wu · 2025
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Hover: Versatile neural whole-body controller for humanoid robots
T. He, W. Xiao, T. Lin, Z. Luo, Z. Xu, Z. Jiang, C. Liu, G. Shi, X. Wang, L. Fan, and Y. Zhu · 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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Humanoid robot learning of complex behaviors with llms
A. Matsiko · 2025
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Dynamic motion blending for versatile motion editing
N. Jiang, H. Li, Z. Yuan, Z. He, Y. Chen, T. Liu, Y. Zhu, and S. Huang · 2025
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Moe-loco: Mixture of experts for multitask locomotion
R. Huang, S. Zhu, Y. Du, and H. Zhao · 2025
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Learning unified force and position control for legged loco-manipulation
P. Zhi, P. Li, J. Yin, B. Jia, and S. Huang · 2025
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Visual imitation enables contextual humanoid control
A. Allshire, H. Choi, J. Zhang, D. McAllister, A. Zhang, C. M. Kim, T. Darrell, P. Abbeel, J. Malik, and A. Kanazawa · 2025
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Styleloco: Generative adversarial distillation for natural humanoid robot locomotion, 2025
L. Ma, Z. Meng, T. Liu, Y. Li, R. Song, W. Zhang, and S. Huang · 2025
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Roboverse: Towards a unified platform, dataset and benchmark for scalable and generalizable robot learning
H. Geng, F. Wang, S. Wei, Y. Li, B. Wang, B. An, C. T. Cheng, H. Lou, P. Li, Y.-J. Wang, et al · 2025
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