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arXiv 2025, ResMimic : From General Motion Tracking to Humanoid Whole-Body Loco-Manipulation via Residual Learning, Website
arXiv 2025, HDMI : Learning Interactive Humanoid Whole-Body Control from Human Videos, Website
arXiv 2025, OmniRetarget : Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction, Website
arXiv 2025, BFM4humanoid : Behavior Foundation Model for Humanoid Robots, Website
arXiv 2025, JAEGE : RDual-Level Humanoid Whole-Body Controller, Website
arXiv 2025, UniTracker : Learning Universal Whole-Body Motion Tracker for Humanoid Robots, Website
arXiv 2025, GMT : General Motion Tracking for Humanoid Whole-Body Control, Website
arXiv 2025, PBHC : KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills, Website
arXiv 2025, R2S2 : Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space, Website
RSS 2025, AMO : Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control, Website
arXiv 2025, HuB : Learning Extreme Humanoid Balance, Website
RSS 2025, HumanUP : Learning Getting-Up Policies for Real-World Humanoid Robots, Website
arXiv 2025, VideoMimic : Visual imitation enables contextual humanoid control, Website
arXiv 2025, HiFAR : Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery, arXiv
SIGGRAPH 2024, VMP : Versatile Motion Priors for Robustly Tracking Motion on Physical Characters, Website
CoRL 2024, OmniH2O : Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, Website
arXiv 2025, HoST : Learning Humanoid Standing-up Control Across Diverse Postures, Website
IROS 2024, human2humanoid : Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation, Website
arXiv 2025, HugWBC : A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion, Website
arXiv 2025, Embrace Collisions : Humanoid Shadowing for Deployable Contact-Agnostics Motions, Website
arXiv 2024,Exbody2 : Advanced Expressive Humanoid Whole-Body Control, Website
RSS 2024, Exbody : Expressive Whole-Body Control for Humanoid Robots, Website
Humanoids 2023, Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, Website
arXiv 2025, ASAP : Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills, Website
CoRL 2024, VBC : Visual Whole-Body Control for Legged Loco-Manipulation, Website
CoRL 2022, Deep Whole-Body Control : Learning a Unified Policy for Manipulation and Locomotion, Website
ICRA 2023, Learning Whole-body Manipulation for Quadrupedal Robot, arXiv
arXiv 2026 RPL : Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains, Website
arXiv 2025 AME-2 : Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding, Website
arXiv 2025 DPL : Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction, arXiv
arXiv 2025 Attention-Based Map Encoding for Learning Generalized Legged Locomotion, arXiv
arXiv 2025 Gallant : Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains, Website
arXiv 2024 LCP : Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies, Website
arXiv 2025, Learning Humanoid Locomotion with World Model Reconstruction, arXiv
arXiv 2025, Learning Perceptive Humanoid Locomotion over Challenging Terrain, arXiv
arXiv 2025, HWC-Loco : A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion, arXiv
arXiv 2025, GMP : Natural Humanoid Robot Locomotion with Generative Motion Prior, Website
arXiv 2025, BeamDojo : Learning Agile Humanoid Locomotion on Sparse Footholds, Website
arXiv 2025, VB-Com : Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception, Website
CoRL 2024, Humanoid Parkour Learning , Website
arXiv 2024, PIM : Learning Humanoid Locomotion with Perceptive Internal Model, Website
Science Robotics 2024, Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning, arxiv
ICRA 2026, Flexible Locomotion Learning with Diffusion Model Predictive Control, Website
ICRA 2025, WMP-LOCO : World Model-based Perception for Visual Legged Locomotion, Website
IROS 2024, PALOCO : Learning Perturbation-Adaptive Locomotion for Quadruped Robots. Webasite
Science Robotics 2022, Learning robust perceptive locomotion for quadrupedal robots in the wild, arXiv
Science Robotics 2025, High-speed control and navigation for quadrupedal robots on complex and discrete terrain, Video
arXiv 2025, quadrupedal-agility : Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots, Website
arXiv 2025, MoELoco : Mixture of Experts for Multitask Locomotion,Website
arXiv 2024,MOVE : Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments, arXiv
ICLR 2024, HIMLOCO : Hybrid Internal Model for Legged Locomotion, Website
CoRL 2022, Walk These Ways : Tuning Robot Control for Generalization with Multiplicity of Behavior, Website
arXiv 2024, Walking with Terrain Reconstruction : Learning to Traverse Risky Sparse Footholds, arXiv
arXiv 2024, PIE : Parkour with Implicit-Explicit Learning Framework for Legged Robots, arXiv
arXiv 2024, Helpful DoggyBot : Open-World Object Fetching using Legged Robots and Vision-Language Models, Website
arXiv 2023, Anymal parkour : Learning agile navigation for quadrupedal robots, arXiv
arXiv 2024, Not Only Rewards But Also Constraints :Applications on Legged Robot Locomotion, arXiv
arXiv 2023, DreamWaQ : Learning Robust Quadrupedal Locomotion With ImplicitTerrain Imagination via Deep Reinforcement Learning, arXiv
RSS 2023, Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination, Webiste
Nature Machine Intelligence 2024, Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models, Website
CoRL 2021, Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots, Webiste
CoRL 2023, Robot Parkour Learning, Website
ICRA 2024, Extreme Parkour with Legged Robots, Webisite
ScienceDirect 2021, Development of quadruped walking robots: A review, ScienceDirect
Science Robotics 2019, Learning agile and dynamic motor skills for legged robots, Video / arXiv
Science Robotics 2020, Learning Quadrupedal Locomotion over Challenging Terrain, Website
RSS 2021, RMA : Rapid Motor Adaptation for Legged Robots, Website
CoRL 2022, Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning, Website / arXiv
RA-L 2023, Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors, bilibili
Physics-Based Character Animation
arXiv 2025, FEATURE-BASED VS. GAN-BASED LEARNING FROM DEMONSTRATIONS: WHEN AND WHY, arXiv
ICLR 2023, MDM : Human Motion Diffusion Model, Website
CVPR 2025, InterMimic : Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions, Website
arXiv 2025, ADD : Physics-Based Motion Imitation with Adversarial Differential Discriminators, arXiv
ACM SIGGRAPH 2022, ControlVAE : Model-Based Learning of Generative Controllers for Physics-Based Characters, Website
arXiv 2025, MaskedManipulator : Versatile Whole-Body Control for Loco-Manipulation, arXiv
ICLR 2024， PULSE : Universal Humanoid Motion Representations for Physics-Based Control, Website
arXic 2024, A Plug-and-Play Physical Motion Restoration Approach for In-the-Wild High-Difficulty Motions, pdf
NeurIPS 2021, UHC : Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation, Website
ICCV 2023, PHC : Perpetual Humanoid Control for Real-time Simulated Avatars, Website
ACM SIGGRAPH 2024, MaskedMimic : Unified Physics-Based Character Control Through Masked Motion Inpainting, Website
ACM SIGGRAPH 2021, AMP : Adversarial Motion Priors for Stylized Physics-Based CharacterControl, Website
ICRA 2026, Compose by Focus : Scene Graph-based Atomic Skills, Website
NeurIPS 2025, Touch in the Wild : Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper,Website
CoRL 2025, DexUMI : Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation, Website
arXiv 2025, Dexterity from Smart Lenses : Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations, Website
arXiv 2025, π*0.6 : a VLA that Learns from Experience, Website
arXiv 2025, In-N-On : Scaling Egocentric manipulation with in-the-wild and on-task data, Website
arXiv 2025, AnyDexGrasp : Learning General Dexterous Grasping for Different Hands with Human-level Learning Efficiency, Website
arXiv 2025, SPIDER : Scalable Physics-Informed DExterous Retargeting, Website
arXiv 2025, PLD : Self-Improving Vision-Language-Action Models with Data Generation via Residual RL, Website
arXiv 2025, Multi-Modal Manipulation via Multi-Modal Policy Consensus, Website
CoRL 2025, ReWiND : Language-Guided Rewards Teach Robot Policies without New Demonstrations, Website
CoRL 2025, Vision in Action : Learning Active Perception from Human Demonstrations, Website
arXiv 2025, DreamVLA : A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge, Website
arXiv 2025, EgoVLA : Learning Vision-Language-Action Models from Egocentric Human Videos, Website
CoRL 2024, OpenVLA : An Open-Source Vision-Language-Action Model, Webiste
arXiv 2024, EgoMimic : Scaling Imitation Learning through Egocentric Video, Website
CoRL 2024, Open-TeleVision :Teleoperation with Immersive Active Visual Feedback, Website
RSS 2023, Diffusion Policy Visuomotor Policy Learning via Action Diffusion, Website
arXiv 2024, Catch It! :Learning to Catch in Flight with Mobile Dexterous Hands, Website
CoRL 2024, UMI on Legs : Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers, Website
ICRA 2024, Pedipulate : Enabling Manipulation Skills using a Quadruped Robot’s Leg, Website
RSS 2023, ALOHA : Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware, Website
CoRL 2022, Perceiver-Actor : A Multi-Task Transformer for Robotic Manipulation, Website
ICRA 2024, Talk Through It : End User Directed Manipulation Learning, Website
arXiv 2024, Open X-Embodiment : Robotic Learning Datasets and RT-X Models, arXiv
arXiv 2024, Do As I Can, Not As I Say:Grounding Language in Robotic Affordances, arXiv
RSS 2024, RVT-2 : Learning Precise Manipulation from Few Examples, Website
CoRL 2020, Transporter Networks : Rearranging the Visual World for Robotic Manipulation, Webiste
arXiv 2026, Hierarchical : World ModelHierarchical Planning with Latent World Models, Website
ICLR 2026, Ctrl-World : A Controllable Generative World Model for Robot Manipulation, Website
arXiv 2026, GRASP : Parallel Stochastic Gradient-Based Planning for World Models, Website
arXiv 2026, LeWorldModel : Stable End-to-End JEPA from Pixels, Website
arXiv 2026, GVP-WM : Grounding Generated Videos in Feasible Plans via World Models, Website
arXiv 2026, Fast-WAM : Do World Action Models Need Test-time Future Imagination? Website
arXiv 2025, WorldPlanner : Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models, arXiv
arXiv 2025, V-JEPA 2 : Self-Supervised Video Models Enable Understanding, Prediction and Planning, arXiv
arXiv 2024, DINO-WM : World Models on Pre-trained Visual Features enable Zero-shot Planning, Webisite
ICLR 2025, SITR : Sensor-Invariant Tactile Representation, Website
arXiv 2024, Survey : Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis, arXiv
arXiv 2024, GVL :Vision Language Models are In-Context Value Learners, Website
ECCV 2024, COPL :Visual Grounding for Object-Level Generalization in Reinforcement Learning, arXiv
ICML 2021, CLIP : Learning Transferable Visual Models From Natural Language Supervision, arXiv
arXiv 2016, A Connection Between Generative Adversarial Networks, Inverse Reinforcement Learning, and Energy-Based Models, arXiv
CVPR 2023, CoWs on Pasture :Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation, Website
RSS 2024, GOAT : GO to Any Thing, Website
CoRL 2023, Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control, Website
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