Humanoid Loco-Manipulation

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22 papers in the last four weeks, up 633% on the four weeks before. 0.2% of all new papers.

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HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
May 26, 2026Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett +7Humanoid Loco-Manipulation Imitation Learning
1NVIDIA · 2The University of Texas at Austin
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-Manipulation Robotic Data Acquisition
School of Computer Science and Engineering, Sun Yat-sen University, China · Peng Cheng Laboratory, China · Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, China
SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
May 19, 2026Tianshu Wu, Xiangqi Kong, Yue Chen +5Humanoid Loco-Manipulation Human-To-Robot Transfer
1CFCS, School of Computer Science, Peking University · School of Computer Science and Engineering, Beihang University
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
May 19, 2026Xinyuan Luo, Xingrui Chen, Xunjian Yin +6Humanoid Loco-Manipulation End-Effector Pose
Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA
HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds
May 17, 2026Qixuan Li, Chen Le, Jincheng Yu +1Humanoid Loco-Manipulation Whole-Body Control
Shenzhen International Graduate School, Tsinghua University, Shenzhen, China. · Department of Electronic Engineering, and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China.
SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision
May 5, 2026Shiyi Chen, Haiyi Liu, Mingye Yang +2Humanoid Loco-Manipulation Egocentric Vision
Tsinghua University · Imperial College London
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
May 2, 2026Zichao Hu, Zifan Xu, Dongsik Chang +6Humanoid Loco-Manipulation Whole-Body Control
Department of Computer Science, The University of Texas at Austin · Amazon Inc. · Sony AI
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Apr 29, 2026Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7Humanoid Loco-Manipulation Tactile
Purdue University, West Lafayette, IN, USA. · Istituto Italiano di Tecnologia, Genoa, Italy. · Columbia University, New York, NY, USA.
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Apr 23, 2026Yan Ning, Xingzhou Chen, Delong Li +6Agile Locomotion Humanoid Loco-Manipulation
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China. · X-lab Department, Agibot Innovation Company, Shanghai, China.
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
Apr 9, 2026John Z. Zhang, Maks Sorokin, Jan Brüdigam +14Humanoid Loco-Manipulation Whole-Body Control
MIT · RAI Institute · Cornell University
AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
Feb 16, 2026Morgan Byrd, Donghoon Baek, Kartik Garg +5Humanoid Loco-Manipulation State Estimation
Georgia Institute of Technology, Atlanta, GA, 30308, USA · Georgia Tech Research Institute, Atlanta, GA, 30308, USA
GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
Sep 22, 2025Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2Legged Robots Locomotion
Dynamic Robot Systems Group, Oxford Robotics Institute, University of Oxford · Sony AI · Dyson Institute of Engineering and Technology

May 26, 2026, cs.ROJ/K move · Enter open · S save

HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning

Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett, Nikita Chernyadev+6

1NVIDIA · 2The University of Texas at Austin

Humanoid Loco-Manipulation Imitation Learning Humanoid Visuomotor Policy Action Space Data Generation+1

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Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing data-generation algorithms can automatically synthesize demonstrations for manipulators, but they are ineffective on humanoids because their high-dimensional composite action spaces involve arms, legs, and torsos. We present HumanoidMimicGen, a method for generating humanoid legged loco-manipulation data. Our method adapts contact-rich whole-body skills from a handful of source demonstrations to new states, generalizing across changes in object pose. By interleaving these single- and dual-arm skills with whole-body locomotion and manipulation planning, the method generates stable, collision-free data across diverse scenes and layouts. To evaluate our approach, we introduce a new simulated loco-manipulation benchmark containing nine diverse tasks that test humanoid loco-manipulation capabilities. There, we demonstrate that HumanoidMimicGen automatically generates large datasets for imitation learning and enables a systematic study of how data generation and policy learning decisions impact model performance. We show that whole-body visuomotor policies co-trained with data generated by HumanoidMimicGen outperform those trained only on real-world data by 20%.

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