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17 papers in the last four weeks, up 183% on the four weeks before. 0.2% of all new papers.

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  1. HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution

    Oct 1, 2026Kyochul Jang, Seohyeon Park, Ohchul Kwon +9HumanoidControlling Tool Use

    Seoul National University · University of Massachusetts Amherst · Google Research

  2. Reactive Humanoid Multi-Contact Using Learned Stability Models

    Sep 30, 2026Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2Ground Reaction ForcesHumanoid

    Florida Institute for Human and Machine Cognition · University of West Florida

  3. Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation

    Sep 29, 2026Zihan Wang, Zhen Wu, Pieter Abbeel +6Motion ImitationCamera-Conditioned Video Generation

    Amazon FAR · UC Berkeley · Stanford +1

  4. CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments

    Sep 29, 2026Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger +6Cross-Embodiment TransferFull-Body Humanoid Control

    VinRobotics · National University of Singapore · TU Darmstadt +3

  5. AnthroDial: Benchmarking LLM Anthropomorphism in Autonomous Social Interaction

    Sep 29, 2026Wentao Liu, Xi Chen, Siyu Song +13Human-Ai InteractionHumanoid

    Shanghai Institute of Innovation · University of Science and Technology of China · East China Normal University +9

  6. EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation

    Sep 29, 2026Jin Chen, Yiming Jiang, Chongyang Xu +8Human-To-Robot TransferHumanoid Loco-Manipulation

    OpenDriveLab at The University of Hong Kong · Alibaba Group · Shanghai Innovation Institute +4

  7. KPI: A Promptable Kernel for Physical Interaction on Humanoids

    Sep 28, 2026Yikai Wang, Honghao Zhu, Xiao Hu +5HumanoidHuman Motion

    Carnegie Mellon University. · Autel US. · Northeastern University.

  8. Humanoid Loco-Manipulation With Discrete VLA Model

    Sep 28, 2026Wenxin Shao, Siqi Chai, Kun Li +4Humanoid Loco-ManipulationAction Space

    Horizon Robotics

  9. DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations

    Sep 28, 2026Naichuan Sun, Haotian Shen, Yizhang Zhang +5Humanoid Loco-ManipulationContact-Rich Dexterous Manipulation

    Department of Artificial Intelligence, School of Engineering, Westlake University · School of Artificial Intelligence, Shanghai Jiao Tong University

  10. AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid

    Sep 27, 2026Hanlong Li, Sihan Tan, Takeshi Ashizawa +2Bimanual ManipulationHumanoid

    Institute of Science Tokyo, Tokyo, Japan

  11. SocialHumanoid: Towards Expressive Humanoid Behavior via One-Step Co-Speech Motion Generation

    Sep 27, 2026Chengqun Yang, Tengjie Zhu, Liang Xu +10Human Motion GenerationHumanoid

    Shanghai Jiao Tong University · ZTE Corporation

  12. CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets

    Sep 27, 2026Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong +4Whole-Body ControlImpedance Control

    VinRobotics · National University of Singapore · VinUniversity +1

  13. Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training

    Sep 22, 2026Raphael Memmesheimer, Sven BehnkeText-To-Motion GenerationHumanoid

    Autonomous Intelligent Systems, Computer Science Institute VI, Lamarr Institute for Machine Learning and Artificial Intelligence, and Center for Robotics, University of Bonn, Bonn, Germany

  14. Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation

    Sep 21, 2026Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1HumanoidHand

    School of Electrical Engineering and Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Australian Cobotics Centre, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia. · Centre for Robotics, Queensland University of Technology, 2 George St, Brisbane, 4000, Queensland, Australia.

  15. Smoothness as a Constraint for Stable Humanoid Locomotion

    Sep 21, 2026Utsav Panchal, Denis Kleyko, Unal Artan +1Full-Body Humanoid ControlWhole-Body Control

    AI, Robotics and Cybersecurity Center (ARC) and Department of Computer Science, Örebro University, Sweden

  16. HOIBlender: Blending Lightweight Detection with Vision-Language Priors for Efficient Human-Object Interaction Detection

    Sep 20, 2026Junwen Chen, Keiji YanaiArticulated ObjectsVision-Language Model Grounding

    Department of Informatics, The University of Electro-Communications, Tokyo, Japan

  17. ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

    Sep 14, 2026Gechen Qu, Tong Zhang, Bike Zhang +4Safety FiltersFull-Body Humanoid Control

    University of California, Berkeley · University of California, Los Angeles

  18. BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI

    Sep 3, 2026Jianren Wang, Letian Qian, Zikai Wang +4Full-Body Humanoid ControlHumanoid

    1Carnegie Mellon University · 2Huazhong University of Science and Technology · 3JoyIn AI

  19. A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

    Aug 31, 2026Jingcheng Jiang, Yifang Zhang, Nikos G. TsagarakisSoft Pneumatic ActuatorsTorque

    Humanoids and Human Centered Mechatronics (HHCM) Research Line Istituto Italiano di Tecnologia Genova, Italy

  20. Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids

    Aug 30, 2026Efe Ongan, Chong Zhang, Boyang Sun +33D PerceptionLidar

    Robotic Systems Lab, ETH Zurich, Switzerland · ETH AI Center, ETH Zurich, Switzerland · Computer Vision and Geometry Group, ETH Zurich, Switzerland

  21. PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots

    Aug 28, 2026Yan Pan, Lingfan Bao, Tianhu Peng +1Text-To-Motion GenerationMotion

    Department of Computer Science, University College London, London, UK

  22. HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments

    Aug 13, 2026Quan-Dung Pham, Anh Dao, The-Anh Nguyen +8Vision-Language NavigationHumanoid

    VinMotion, Inc., Vietnam · University of Southern California, USA

  23. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisCollision-Free TrajectoriesFull-Body Humanoid Control

    Department of Aerospace Engineering and Engineering Mechanics, The University of Texas at Austin, TX 78712, USA.

  24. ωω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation

    Aug 6, 2026Zhe Li, Zhenzhe Zhang, Yangyang Wei +8Humanoid Loco-ManipulationLatent World Models

    MARS Lab, NTU · BAAI · PKU +1

  25. Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin

    Aug 3, 2026Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6TactileHumanoid

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague · Human Interaction and Robotics group at CU Boulder · Eindhoven University of Technology

  26. Teleopit: A Full-Embodiment Humanoid Teleoperation System

    Aug 3, 2026Bingqian Wu, Zicheng Xu, Xianghui Fan +2TeleoperationCross-Embodiment Retargeting

    Westlake University · Shanghai Innovation Institute

  27. Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control

    Jul 31, 2026Hyunjong Song, William Z. Peng, Joo H. KimHumanoid Loco-ManipulationBalance

    Department of Mechanical and Aerospace Engineering, New York University (NYU), New York, USA · NYU Center for Robotics and Embodied Intelligence (CREO), New York, USA · NYU Center for Urban Science and Progress (CUSP), New York, USA

  28. Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination

    Jul 31, 2026Haoyu Fu, Zhou Ge, Chengze Li +4Robotic PerceptionTeleoperation

    School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China. · SHU General Intelligent Robotics Research Institute, Baoshan District, Shanghai, 200444, China. · School of Physics, Changchun University of Science and Technology, Jilin, 130015, China.

  29. CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning

    Jul 31, 2026Yuxin Chen, Hari Srikanth, Nathan Jew +7Reinforcement Fine-TuningHumanoid

    University of California, Berkeley · Google DeepMind · NVIDIA Research

  30. Advances, challenges, and opportunities for legged robots

    Jul 31, 2026Jonas Frey, Matías Mattamala, Hae-Won Park +5Legged RobotsHumanoid

    ETH Zurich, Zurich, Switzerland · Stanford University, Stanford, CA, USA · UC Berkeley, Berkeley, CA, USA +9

  31. Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids

    Jul 22, 2026Roger Sala Sisó, Tiago Silvério, Jakob Sand +1Post-TrainingHumanoid

    HIVE Robots, Denmark · Department of Engineering Technology, Technical University of Denmark, Denmark

  32. What Matters in Humanoid General Motion Tracking? An Empirical Study

    Jul 22, 2026Fabio Amadio, Enrico Mingo HoffmanHumanoidMotion

    HUCEBOT · Inria, Université de Lorraine, CNRS, Nancy, France

  33. Learning Diverse Humanoid Tasks via Synthetic Video Scenarios without Real World Data

    Jul 22, 2026Yun-Hao Tsai, Cong-Thanh Vu, Yen-Chen LiuHuman-To-Robot TransferHumanoid

    Department of Mechanical Engineering, National Cheng Kung University (NCKU), Tainan 70101, Taiwan

  34. MAGE: Human-Like Macro Placement via Agentic Multimodal Reasoning

    Jul 20, 2026Andrew B. Kahng, Sayak Kundu, Bodhisatta PramanikMultimodal AgentsHumanoid

  35. Handroid: Bridging Dexterous Hand and Humanoid

    Jul 17, 2026Ruogu Li, Chenyang Ma, Sikai Li +6Robotic HandsHumanoid Robotics

    University of North Carolina at Chapel Hill · Stanford University

  36. GaitSpan: Growing Humanoid Locomotion from Walking to Running

    Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Gait DynamicsAgile Locomotion

    University of Michigan · Skyline High School · University of Michigan, UC Berkeley

  37. AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning

    Jul 9, 2026Iaroslav Kolomiets, Miguel Altamirano Cabrera, Artem Lykov +6Egocentric VideoCross-Embodiment Transfer

    Intelligent Space Robotics Lab, Skolkovo Institute of Science and Technology, Moscow, Russian Federation · R&D Center, MWS, Moscow, Russian Federation

  38. In vivo feasibility study of humanoid robots in surgery

    Jul 8, 2026Zekai Liang, Nikita Thareja, Peihan Zhang +7Surgical RobotsHumanoid Robotics

    Jacobs School of Engineering, UC San Diego, 9500 Gilman Drive, La Jolla, 92093, CA, USA. · Department of Surgery, UC San Diego, 9300 Campus Point Drive, La Jolla, 92037, CA, USA.

  39. Immersive Social Interaction with VR and LLM-Assisted Humanoids

    Jul 8, 2026Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma +2TeleoperationFull-Body Humanoid Control

    New York University Abu Dhabi (NYUAD), UAE

  40. Initiation Safety: A Missing Dimension in Generalist-Robot Safety

    Jul 8, 2026Zhijin Meng, Francisco CruzSafety ClaimsAuthorization

    School of Computer Science and Engineering University of New South Wales

  41. HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors

    Jul 6, 2026Mingrui Yu, Yongpeng Jiang, Yongyi Jia +4Robotic GraspingHumanoid

    Tsinghua University

  42. What Color is the Sky (for a non-human) ?

    Jun 27, 2026Yair Weiss, Ofer SpringerEarthSpectral

    School of Computer Science and Engineering and Edmond and Lili Safra Center for Brain Research, Hebrew Univesity of Jerusalem · School of Computer Science and Engineering, Hebrew Univesity of Jerusalem

  43. HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

    Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot-Free DemonstrationsHumanoid

    Beijing Academy of Artificial Intelligence

  44. DanceDuo: Bridging Human Movement and AI Choreography

    Jun 25, 2026Gia-Cat Bui-Le, Tuong-Vy Truong-Thuy, Hai-Dang Nguyen +1DuetHumanoid

    University of Science, VNU-HCM, Ho Chi Minh City, Vietnam · Vietnam National University, Ho Chi Minh City, Vietnam

  45. TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes

    Jun 24, 2026Blake Werner, Ilona Demler, Pietro Perona +1BadmintonHuman-To-Robot Transfer

    California Institute of Technology

  46. OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

    Jun 24, 2026Runyi Yu, Xiaoyi Lin, Ji Ma +11Humanoid Loco-ManipulationArticulated Objects

    Noitom Robotics · The Hong Kong University of Science and Technology · Wuhan University +1

  47. Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI

    Jun 22, 2026Xianda Guo, Bohao Zhang, Chenwei Huang +63D Semantic Occupancy PredictionLarge-Scale Robot Demonstration Datasets

    School of Computer Science, Wuhan University · †Work was done during an internship at D-Robotics. · D-Robotics +2

  48. OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

    Jun 20, 2026Yingdong Hu, Haodong Zhu, Boyuan Zheng +6Humanoid Loco-ManipulationGeneralist Vision--Language--Action

    Tsinghua University · Shanghai Qi Zhi Institute · Spirit AI

  49. ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

    Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Full-Body Humanoid ControlAdaptive Control

    1MARS Lab, Nanyang Technological University

  50. MotionVLA: Vision-Language-Action Model for Humanoid Motion

    Jun 13, 2026Nonghai Zhang, Siyu Zhai, Yanjun Li +5Human Motion GenerationHumanml3D

    School of Computer Science, Peking University · AI2 Robotics

  51. Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids

    Jun 11, 2026Xiao Ren, Yuhui Yang, Zongbiao Weng +2Full-Body Humanoid ControlRobust Fall Detection

    Southern University of Science and Technology, Shenzhen 518055, China

  52. EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots

    Jun 9, 2026Yanshuo Lu, Yuxuan Hu, Shenghai Yuan +5Robust Fall DetectionMillimeter Wave

    MARS Lab · NTU · IOT Lab

  53. RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning

    Jun 9, 2026Yichao Zhong, Yidan Lu, Yuhang Lu +9BadmintonFull-Body Humanoid Control

    The University of Hong Kong · Archon Robotics · The Chinese University of Hong Kong

  54. MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds

    Jun 9, 2026Codrin Crismariu, Ryan K. CosnerAgile LocomotionScalable Robot Learning

    Department of Mechanical Engineering Tufts University, Medford, MA, United States

  55. EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control

    Jun 7, 2026Haoyang Ge, Peng Ren, Yukun Shi +3Egocentric Motion GenerationHumanoid

    Tianjin University, Tianjin, China · Zhongguancun Academy, Beijing, China · Beihang University, Beijing, China +2

  56. Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data

    Jun 6, 2026Ji Woong Kim, Ke Wang, Zipeng Fu +4Egocentric DatasetHumanoid

    1Stanford University · 2Meta

  57. TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion

    Jun 6, 2026Thanh Ly, Truong-Duy Dang, Chien Le +5TerrainHumanoid

    VinRobotics, Vietnam · Center for AI Research, VinUniversity, Vietnam · Intelligent Autonomous Systems, TU Darmstadt, Germany

  58. Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots

    Jun 2, 2026Tianchen Huang, Feiyang Yuan, Junchi Gu +5Cross-Embodiment RetargetingHuman Motion

    Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China

  59. TROPHIES: Temporal Reconstruction of Places, Humans, and Cameras from Multi-view Videos

    Jun 1, 2026Jinpeng Liu, Yukang Xu, Yutong Li +1Scene ReconstructionCamera

    National University of Singapore

  60. PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments

    Jun 1, 2026Kihyun Kim, Chaeyun Kim, Jongho Shin +4Cross-Embodiment TransferRobot Policies

    AIM Intelligence · Seoul National University · LG Electronics +2