Humanoid Loco-Manipulation

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  1. Humanoid Horizon: Extending Task Horizon in Whole-Body Loco-Manipulation via Parallel Training, Dynamic Starting, and Reward Gating

    Oct 6, 2026Haozhuo Zhang, Qiang Zhang, Jian Tang +4Humanoid Loco-ManipulationLong-Horizon Manipulation

  2. InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation

    Oct 5, 2026Yucheng Zhang, Sirui Xu, Jinhong Li +8Humanoid Loco-ManipulationMotion Imitation

  3. Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture

    Oct 5, 2026Seungho Yeom, Zhenyu Wu, Jaeyoung Huh +4Humanoid Loco-Manipulation

  4. MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending

    Oct 1, 2026Yifan Hu, Luhang Hong, Mingkang Long +5Full-Body Humanoid ControlHumanoid Loco-Manipulation

  5. Towards a General Humanoid Loco-Manipulation Model via Egocentric Whole-Body Human Data Pretraining

    Sep 30, 2026Chongyang Xu, Zhao Wu, Jin Chen +9Humanoid Loco-ManipulationEgocentric Dataset

  6. CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation

    Sep 30, 2026Xinyuan Luo, Chunyuan Yang, Boyuan Chen +1Humanoid Loco-ManipulationEnd-Effector Pose

  7. EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation

    Sep 29, 2026Yiming Jiang, Jin Chen, Chongyang Xu +3Egocentric DatasetHumanoid Loco-Manipulation

  8. 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

  9. EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation

    Sep 29, 2026Abu Hanif Muhammad Syarubany, Chang D. YooHumanoid Loco-ManipulationVisuomotor Policy

  10. Humanoid Loco-Manipulation With Discrete VLA Model

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

  11. Uni-VLaT: Whole-Body Tactile Adaptation of VLA Policies for Humanoid Loco-Manipulation

    Sep 28, 2026Zihao Wang, Shutong Liu, Siqi Zheng +5TactileHumanoid Loco-Manipulation

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

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

  13. WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation

    Sep 28, 2026Chuan Qin, Shaoting Zhu, Siyuan Luo +4Humanoid Loco-ManipulationFaster-Wam

  14. HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation

    Sep 24, 2026Seoyeon Choi, Shizhao Ye, Nicholas Bui +5Humanoid Loco-ManipulationReinforcement Learning Baseline

  15. Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation

    Sep 24, 2026Al Jaber Mahmud, Shuai Li, Xuan WangHumanoid Loco-ManipulationContact

  16. ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots

    Sep 16, 2026Zejie Tian, Ruibing Hou, Bingpeng Ma +2Humanoid Loco-ManipulationWhole-Body

  17. Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

    Sep 16, 2026Zhongyu Chen, Yuxuan Nai, Qian Chen +8Whole-Body ControlHumanoid Loco-Manipulation

  18. Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation

    Sep 15, 2026Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid KhadivHumanoid Loco-ManipulationLegged Robots

  19. Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions

    Sep 15, 2026Liu Cao, Xingze Wu, Jingzhi Cui +4Contact-Rich Dexterous ManipulationHumanoid Loco-Manipulation

  20. WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination

    Sep 15, 2026Zhuo Li, Yiming Yao, Jim Tan +3Humanoid Loco-ManipulationWhole-Body Control

  21. FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

    Sep 3, 2026Yutian Zhang, Siyuan Ma, Liwen Yang +6Humanoid Loco-ManipulationWhole-Body Control

  22. A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

    Sep 1, 2026Duncan Calvert, Luigi Penco, Dexton Anderson +4Humanoid Loco-ManipulationHumanoid Robotics

  23. Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL

    Aug 12, 2026Martin Schuck, Maks Sorokin, Simone Manni +5Humanoid Loco-ManipulationRobot Autonomy

  24. LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation

    Aug 7, 2026Cheng Guo, Mingzhe Ni, Angelo Cangelosi +1Humanoid Loco-ManipulationHierarchical Reinforcement Learning

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

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

  26. Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning

    Jul 22, 2026Nicolas Kosanovic, Jordan Dowdy, Jean Chagas VazHumanoid Loco-ManipulationTeleoperation

  27. FARO: Feasibility-Aware Robot Motion Optimization

    Jul 20, 2026Michal Ciebielski, Shafeef Omar, Aaron Johnson +1Robot TrajectoriesHumanoid Loco-Manipulation

  28. Locality-Aware Density Control for Efficient Gaussian-based Image Representation

    Jul 20, 2026Jiacong Chen, Qingyu Mao, Xiandong Meng +5Gaussian Splatting3D Gaussian Primitives

  29. Vision-Based Dribbling for Humanoid Soccer via Privileged Representation Learning

    Jul 14, 2026Flavio Maiorana, Valerio Spagnoli, Eugenio Bugli +5BadmintonHumanoid Robotics

  30. PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

    Jul 13, 2026Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4Humanoid Loco-ManipulationLegged Robots

  31. TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation

    Jul 11, 2026Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4Humanoid Loco-ManipulationWhole-Body Control

  32. Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation

    Jul 7, 2026Yan Pan, Yuanchuan Ren, Chipui Chan +2Humanoid Loco-ManipulationBimanual Manipulation

  33. VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

    Jun 29, 2026Yen-Jen Wang, Jiaman Li, Sirui Chen +9Humanoid Loco-ManipulationRobot Trajectories

  34. X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies

    Jun 29, 2026Ritwik Sharma, Shivam Sood, Arhaan Jain +3Human MotionScalable Robot Learning

  35. KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability

    Jun 29, 2026Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8Legged RobotsHumanoid Loco-Manipulation

  36. CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation

    Jun 26, 2026Wenqi Ge, Junde Guo, Zhen Fu +3Humanoid Loco-Manipulation

  37. Humanoid-DART: Humanoid Loco-Manipulation using Diffusion-guided Augmentation through Relabeling and Tracking

    Jun 25, 2026Pranav Debbad, Kanish Thiagarajan, Victor Dhédin +2Humanoid Loco-ManipulationDiffusion Policies

  38. A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

    Jun 24, 2026Duncan William CalvertHumanoid Loco-ManipulationHumanoid Robotics

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

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

  40. FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

    Jun 23, 2026Yudong Zhong, Pengfei Mai, Sikai Guo +6Whole-Body ControlHumanoid Loco-Manipulation

  41. CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation

    Jun 22, 2026Sikai Li, Shuning Li, Zhenyu Wei +3Humanoid Loco-ManipulationContact-Rich Dexterous Manipulation

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

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

  43. HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations

    Jun 17, 2026Zehui Zhao, Yuxuan Zhao, Gaojing Zhang +3Humanoid Loco-Manipulation

  44. Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation

    Jun 10, 2026Mehmet Turan YardımcıHumanoid Loco-ManipulationRobotic Manipulation Policies

  45. MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation

    Jun 8, 2026Jia Zheng, Teli Ma, Yudong Fan +3Humanoid Loco-ManipulationFull-Body Humanoid Control

  46. OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation

    Jun 7, 2026Zehao Yu, Jiakun Zheng, Weiji Xie +4Humanoid Loco-ManipulationRobotic Data Acquisition

  47. MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation

    Jun 4, 2026Ilyass Taouil, Michal Ciebelski, Shafeef Omar +4Humanoid Loco-ManipulationMotion

  48. SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation

    Jun 2, 2026Jeonguk Kang, Hanbyel Cho, Sanghyun Kang +1Humanoid Loco-ManipulationRapid Adaptation

  49. S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot

    May 31, 2026Zong Chen, Xuebin Li, Jinpeng Xiao +5Humanoid Loco-ManipulationLegged Robots

  50. Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation

    May 29, 2026Sikai Guo, Yudong Zhong, Guoyang Zhao +3Humanoid Loco-ManipulationWhole-Body Control