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

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Humanoid Robotics

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Task-Centric Hybrid Whole-Body Controller

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KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Jun 15, 2025Weiji Xie, Jinrui Han, Jiakun Zheng +6Long-Tail Humanoid Whole-Body Control Motion Imitation
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier Functions Scalable Robot Learning
Real-Time Safety Evaluation of Human Arm Operations Using a Wrist-Mounted IMU with PSM System
Feb 13, 2025Musab Zubair Inamdar, Alhusain Al Hadrami, Seyed Amir TafrishiHuman-Robot Collaboration Robotic Arms
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
Sep 30, 2024Lukas Rustler, Matej Misar, Matej HoffmannHuman-Robot Collaboration Collision Prediction
Dancing with REEM-C: A robot-to-human physical-social communication study
Aug 9, 2024Marie Charbonneau, Francisco Javier Andrade Chavez, Katja MombaurHuman-Robot Interaction Communication
Context-Aware System Synthesis, Task Assignment, and Routing
Jun 14, 2017Jason Ziglar, Ryan Williams, Alfred WicksPatient-To-Room Assignment Problem Humanoid Robotics
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer
Date pendingZhangchen Ye, Enxuan Ruan, Yifei Bao +10Badminton Human-To-Robot Transfer
Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control
Date pendingHiroshi Atsuta, Hisashi Ishihara, Minoru AsadaLong-Tail Humanoid Whole-Body Control Soft Pneumatic Actuators
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
Date pendingShihao Ma, Hongjin Chen, Zijun Xu +6Long-Tail Humanoid Whole-Body Control Terrain
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Date pendingHongjin Chen, Wei Zhang, Pengfei Li +10Task-Centric Hybrid Whole-Body Controller Humanoid

Jun 15, 2025 · cs.ROJ/K move · Enter open · S save

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills

Weiji Xie, Jinrui Han, Jiakun Zheng, Huanyu Li+5

Institute of Artificial Intelligence (TeleAI), China Telecom · Shanghai Jiao Tong University · East China University of Science and Technology · Harbin Institute of Technology · ShanghaiTech University

Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper presents a physics-based humanoid control framework, aiming to master highly-dynamic human behaviors such as Kungfu and dancing through multi-steps motion processing and adaptive motion tracking. For motion processing, we design a pipeline to extract, filter out, correct, and retarget motions, while ensuring compliance with physical constraints to the maximum extent. For motion imitation, we formulate a bi-level optimization problem to dynamically adjust the tracking accuracy tolerance based on the current tracking error, creating an adaptive curriculum mechanism. We further construct an asymmetric actor-critic framework for policy training. In experiments, we train whole-body control policies to imitate a set of highly-dynamic motions. Our method achieves significantly lower tracking errors than existing approaches and is successfully deployed on the Unitree G1 robot, demonstrating stable and expressive behaviors. The project page is https://kungfubot.github.io.

Long-Tail Humanoid Whole-Body Control Motion Imitation Robocasa Soft Actor-Critic Adaptive Testing

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