Human-Robot Interaction

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Human-Robot Interaction

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Human-Robot Collaboration

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Long-Tail Humanoid Whole-Body Control

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Humanoid Robotics

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Task-Centric Hybrid Whole-Body Controller

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Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
Jun 4, 2026Junheng Li, Liang Wu, Sergio A. Esteban +3Long-Tail Humanoid Whole-Body Control Perceptive Locomotion Policies
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Jun 3, 2026Zuxing Lu, Ziang Zheng, Yao Lyu +7Long-Tail Humanoid Whole-Body Control Task-Centric Hybrid Whole-Body Controller
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation
Jun 3, 2026Kailun Huang, Zikang Xie, Yanzhe Xie +8Perceptive Locomotion Policies Long-Tail Humanoid Whole-Body Control
Face versus Body Tracking for Human-Robot Interaction: An Egocentric Dataset
Jun 2, 2026Jessica Wenninger, Gabriel SkantzeHuman-Robot Interaction Egocentric Dataset
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots
Jun 2, 2026Tianchen Huang, Mingkuan Zhao, Yang Gao +8Long-Tail Humanoid Whole-Body Control Human Motion Generation
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Jun 2, 2026Tianchen Huang, Feiyang Yuan, Junchi Gu +5Motion Retargeting Human Motion Generation
BotDirector: Robot Storytelling Across the Symmetrical Reality with Multi-modal Interactions
Jun 2, 2026Zhe Sun, Meng Wang, Lei Wang +4Human-Robot Interaction Robot Systems
Motion Planning in Dynamic Environments: A Survey from Classical to Modern Methods
Jun 1, 2026Zongyuan Shen, Yaming Ou, Shalabh Gupta +6Motion Planners Planning Methods
PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments
Jun 1, 2026Kihyun Kim, Chaeyun Kim, Jongho Shin +4Cross-Embodiment Transfer Latent Actions
Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction
May 30, 2026Danyal Saqib, Francisco Andrade Chavez, Marie CharbonneauAdaptive Controller Actuator
HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads
May 29, 2026Songyang Liu, Shunyu Yao, Dingyuan Huang +1Imitation Learning Teleoperation
Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration
May 29, 2026Jun Wang, Xiaohao Xu, Xiaonan HuangHuman-Robot Collaboration Explicit Visual Grounding
Design Principles for Human-Agent Interaction
May 28, 2026Haiyi Zhu, Canwen Wang, Qing Xiao +1Human-Robot Interaction Principles
Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
May 27, 2026Junha Min, Junghyeon Ma, Jiwung Kwon +3Proprioception Human-Robot Interaction
AI, Take the Wheel: What Drives Delegation and Trust in Human-Computer Cooperative Question Answering?
May 27, 2026Maharshi Gor, Yoo Yeon Sung, Yu Hou +4Human-Ai Collaboration Trustworthy Artificial Intelligence
Synthetic Emotions vs. Gamification: Exploring Engagement Strategies for Small Social Robots in Different Age Groups
May 26, 2026Morten Roed Frederiksen, Kasper StøyHuman-Robot Interaction Analytics
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
May 26, 2026Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti +13Human-Robot Collaboration Humanoid Robotics
Look Further: Socially-Compliant Navigation System in Residential Buildings
May 26, 2026Akira Shiba, Marina Obata, Nathan Kau +4Social Robot Navigation Human-Robot Interaction
MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control
May 25, 2026Bin Li, Ruichi Zhang, Han Liang +4Long-Tail Humanoid Whole-Body Control Imitation Learning
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
May 25, 2026Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2Task-Centric Hybrid Whole-Body Controller Control Barrier Functions
Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis
May 23, 2026Reiji Terunuma, Yuta Nakamura, Takeshi HatanakaPassive Human-Robot Interaction
PACT: Proactive Asking for Continual Task Assistance in Human-Robot Collaboration
May 23, 2026Chengbo He, Sheng Li, Chenyang Ma +6Human-Robot Collaboration Proactive
Adaptive Human-AI Coordination via Hierarchical Action Disentanglement
May 23, 2026Adnan Ahmad, Bahareh Nakisa, Mohammad Naim RastgooHuman-Ai Collaboration Hierarchical Reinforcement Learning
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
May 22, 2026Ming Yang, Tao Yu, Feng Li +1Long-Tail Humanoid Whole-Body Control Cross-Embodiment Transfer
6G Communication Networks Enabling Embodied Agents: Architecture and Prototype
May 22, 2026Lipeng Dai, Luping Xiang, Kun YangEmbodied Agents Human-Robot Interaction
Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
May 21, 2026Ismail Geles, Leonard Bauersfeld, Markus Wulfmeier +1Multi-Agent Reinforcement Learning Multi-Robot Systems
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control
May 21, 2026Jingyan Zhang, Han Liang, Ruichi Zhang +6Long-Tail Humanoid Whole-Body Control Diffusion Policies
Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments
May 21, 2026Peifeng Jiang, Hong Liu, Jin Jin +2Humanoid Locomotion Stability
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-Manipulation Scalable Robot Data Synthesis
Adaptive Human-Robot Collaboration for Masonry Construction Under Material and Assembly Uncertainty
May 18, 2026Jutang Gao, Arash AdelHuman-Robot Collaboration Neural Guidance
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
May 18, 2026Yidan Lu, Yichao Zhong, Liu Zhao +2Perceptive Locomotion Policies Adversarial Motion Priors
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
May 17, 2026Jiarong Kang, Kunzhao Ren, Tao Pang +1Motion Estimation Contact Forces
HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds
May 17, 2026Qixuan Li, Chen Le, Jincheng Yu +1Task-Centric Hybrid Whole-Body Controller Humanoid Loco-Manipulation
"I'm Not Mad, Just Focused'': Understanding Human Emotions in Human-Robot Collaboration
May 16, 2026Seung Chan Hong, Dana Kulić, Leimin TianHuman-Robot Collaboration Robotic Datasets
EfficientTDMPC: Improved MPC Objectives for Sample-Efficient Continuous Control
May 15, 2026Thomas Evers, Cristian Meo, Wendelin Bohmer +2Iterative Reinforcement Learning Model Predictive Control
Beyond Collision Avoidance: Multi-Robot Yielding and Spatial Affordance in Emergency Evacuations
May 15, 2026Ning Zhou, Edmund R. Hunt, Nikolai W. F. BodeHuman-Robot Interaction Collision Avoidance
Designing for Robot Wranglers: A Synthesis of Literature and Practice
May 15, 2026David Porfirio, Ian McDermott, Hsin-Mei Chen +3Human-Robot Interaction Robot Systems
Learning Dynamic Pick-and-Place for a Legged Manipulator
May 15, 2026Moonkyu Jung, Jiseong Lee, Zhengmao He +8Task-Centric Hybrid Whole-Body Controller Robotic Arms
Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance
May 14, 2026Tianfang Zhu, Ning An, Rui Wang +4Tactile Perception Dexterous Robot Hands
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
May 14, 2026Haozhe Jia, Honglei Jin, Yuan Zhang +9Long-Tail Humanoid Whole-Body Control Latent Actions
Distill: Uncovering the True Intent behind Human-Robot Communication
May 14, 2026Ting Li, David PorfirioHuman-Robot Interaction Human-Robot Collaboration
Exploring Human-Robot Collaboration: Analysis of Interaction Modalities in Challenging Tasks
May 13, 2026Simone Arreghini, Cristina Iani, Alessandro Giusti +3Human-Robot Collaboration Collaboration
HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation
May 13, 2026Haoxuan Xu, Tianfu Li, Wenbo Chen +7Vision-Language Navigation Social Robot Navigation
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation
May 12, 2026Yiren Song, Xiyao Deng, Pei Yang +2Cross-Embodiment Transfer Embodiment
Cooperative Robotics Reinforced by Collective Perception for Traffic Moderation
May 12, 2026Mohammad Khoshkdahan, John Pravin Arockiasamy, Andy Flores Comeca +1Collaborative Perception V2X
Initiation of Interaction Detection Framework using a Nonverbal Cue for Human-Robot Interaction
May 11, 2026Guhnoo Yun, Juhan Yoo, Kijung Kim +1Human-Robot Interaction Multi-Sensor Fusion
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
May 11, 2026Jianguo Zhang, Wentai Xu, Shusheng Ye +5Perceptive Locomotion Policies Long-Tail Humanoid Whole-Body Control
Hierarchical Prompting with Dual LLM Modules for Robotic Task and Motion Planning
May 8, 2026Karolina Źróbek, Tessa Pulli, Paweł Gajewski +2Human-Robot Interaction 3D Spatial Reasoning
Melding LLM and temporal logic for reliable human-swarm collaboration in complex scenarios
May 8, 2026Junfeng Chen, Yuxiao Zhu, An Zhuo +6Large Language Model Planning Swarms
Caring Without Feeling: Affective Dynamics as the Control Layer of Human-AI Agent Collaboration
May 8, 2026Junjie Xu, Xingjiao Wu, Zihao Zhang +6Human-Ai Collaboration Affective Computing
Gaze4HRI: Zero-shot Benchmarking Gaze Estimation Neural-Networks for Human-Robot Interaction
May 6, 2026Berk Sezer, Ali Görkem Küçük, Erol Şahin +1Gaze Target Estimation Gaze
Evaluating Generative Models as Interactive Emergent Representations of Human-Like Collaborative Behavior
May 5, 2026Shinas Shaji, Teena Chakkalayil Hassan, Sebastian Houben +1Human-Ai Collaboration Human-Robot Collaboration
Robotic Affection -- Opportunities of AI-based haptic interactions to improve social robotic touch through a multi-deep-learning approach
May 4, 2026Ali Askari, Jens GerkenHuman-Robot Interaction Haptic Feedback
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
May 2, 2026Zichao Hu, Zifan Xu, Dongsik Chang +6Humanoid Loco-Manipulation Task-Centric Hybrid Whole-Body Controller
SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
May 2, 2026Xingzhou Chen, Xiayan Xu, Yan Ning +8Proprioception Task-Centric Hybrid Whole-Body Controller
Assistance Without Interruption: A Benchmark and LLM-based Framework for Non-Intrusive Human-Robot Assistance
May 2, 2026Yuedi Zhang, Shuanghao Bai, Wanqi Zhou +4Human-Robot Interaction Negotiation
What Does a Meow Mean? In Search of Intuitively Understandable Communication by a Nonverbal Companion Robot
May 2, 2026Vivienne Bihe Chi, Claudia B. Rébola, Bertram F. MalleNonverbal Cues Human-Robot Interaction
Ablation Study of Multimodal Perception, Language Grounding, and Control for Human-Robot Interaction in an Object Detection and Grasping Task
May 1, 2026Zi Tian, Guanting ShenHuman-Robot Interaction Perception-Action Loop
ARIS: Agentic and Relationship Intelligence System for Social Robots
May 1, 2026Stavya Datta, Fucai Ke, Leimin Tian +1Human-Robot Interaction Robot Systems
OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction
Apr 30, 2026Junyoung Lee, Inhee Lee, Sookwan Han +9Human-Robot Interaction Robot Systems

Jun 4, 2026 · cs.ROJ/K move · Enter open · S save

Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation

Junheng Li, Liang Wu, Sergio A. Esteban, Lizhi Yang+2

California Institute of Technology, CA 91106, USA · Johns Hopkins University, MD 21218, USA

In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-body skills through large-scale simulation. However, using MPC inside RL often requires time-consuming problem construction or excessive training overhead, making such frameworks difficult to justify in practice. This work studies efficient training-time MPC guidance for humanoid locomotion and manipulation, termed MPC-RL. We introduce a centroidal-dynamics MPC reward formulation that leverages guidance from MPC trajectories in training time. To make this practical in massively parallel RL, we develop

π^n

MPC, a parallel-in-horizon and construction-free batched GPU MPC solver that operates directly on time-varying dynamics to avoid high memory usage and pre-compilation. Through a variety of comparative studies and hardware validations, we have found that MPC-RL achieves superior performance in locomotion and manipulation skills. The code base is available at https://github.com/junhengl/mpc-rl.

Long-Tail Humanoid Whole-Body Control Perceptive Locomotion Policies Iterative Reinforcement Learning Model Predictive Control Scalable Robot Learning Deep Reinforcement Learning Manipulation Neural Scaling Laws

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