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The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots.
Dynamic walk of a biped
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel
K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle · 2011
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A reduction of imitation learning and structured prediction to no-regret online learning
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Imagenet classification with deep convolutional neural networks
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Mujoco: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa · 2012
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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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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Sim-to-real transfer of robotic control with dynamics randomization
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel · 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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Robust motion in-betweening
F. G. Harvey, M. Yurick, D. Nowrouzezahrai, and C. Pal · 2020
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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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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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Ase: Large-scale reusable adversarial skill embeddings for physically simulated characters
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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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G. Tevet, S. Raab, B. Gordon, Y. Shafir, D. Cohen-Or, and A. H. Bermano · 2022
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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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Calm: Conditional adversarial latent models for directable virtual characters
C. Tessler, Y. Kasten, Y. Guo, S. Mannor, G. Chechik, and X. B. Peng · 2023
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Synthesizing physical character-scene interactions
M. Hassan, Y. Guo, T. Wang, M. Black, S. Fidler, and X. B. Peng · 2023
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Learning physically simulated tennis skills from broadcast videos
Whole-body humanoid robot locomotion with human reference
Q. Zhang, P. Cui, D. Yan, J. Sun, Y. Duan, G. Han, W. Zhao, W. Zhang, Y. Guo, A. Zhang, et al · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts
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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Mobile-television: Predictive motion priors for humanoid whole-body control
C. Lu, X. Cheng, J. Li, S. Yang, M. Ji, C. Yuan, G. Yang, S. Yi, and X. Wang · 2024
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Vmp: Versatile motion priors for robustly tracking motion on physical characters
A. Serifi, R. Grandia, E. Knoop, M. Gross, and M. Bächer · 2024
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Y. Yuan, V. Makoviychuk, Y. Guo, S. Fidler, X. Peng, and K. Fatahalian · 2023
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Pdp: Physics-based character animation via diffusion policy
T. E. Truong, M. Piseno, Z. Xie, and K. Liu · 2024
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Maskedmimic: Unified physics-based character control through masked motion inpainting
C. Tessler, Y. Guo, O. Nabati, G. Chechik, and X. B. Peng · 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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Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning
T. He, Z. Luo, X. He, W. Xiao, C. Zhang, W. Zhang, K. Kitani, C. Liu, and G. Shi · 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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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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Learning from massive human videos for universal humanoid pose control
J. Mao, S. Zhao, S. Song, T. Shi, J. Ye, M. Zhang, H. Geng, J. Malik, V. Guizilini, and Y. Wang · 2024
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F. Liu, Z. Gu, Y. Cai, Z. Zhou, S. Zhao, H. Jung, S. Ha, Y. Chen, D. Xu, and Y. Zhao · 2024
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Asap: Aligning simulation and real-world physics for learning agile humanoid whole-body skills
T. He, J. Gao, W. Xiao, Y. Zhang, Z. Wang, J. Wang, Z. Luo, G. He, N. Sobanbab, C. Pan, et al · 2025
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A unified and general humanoid whole-body controller for fine-grained locomotion
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Learning getting-up policies for real-world humanoid robots
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Learning humanoid standing-up control across diverse postures
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