Humanoid Robot Control

Follow this topic Ask about this topic

Momentum

26 papers in the last four weeks, up 767% on the four weeks before. 0.3% of all new papers.

Jul 13Week of Sep 28

Latest papers 121

All topics

VioLA: Learning Generalist Humanoid Control Policies from Human Data
Oct 8, 2026Mert Albaba, Jens Beißwenger, Anna Manasyan +6Humanoid Robot Control Robot Imitation Learning
Vesoma · ETH Zürich · MPI-IS +2
Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control
Oct 7, 2026Joohwan Seo, Xiaofeng Guo, Jinkun Cao +4Humanoid Robot Control Whole-Body Robotic Manipulation
University of California, Berkeley · Amazon FAR · Carnegie Mellon University
MimicX: Policy-in-the-Loop Supervision Refinement for Video-Driven Humanoid Motion Tracking
Oct 6, 2026Shuaijun Liu, Chenglong Zhang, Xuhao Liu +7Humanoid Motion Tracking Humanoid Robot Control
The Hong Kong University of Science and Technology (Guangzhou)
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Oct 6, 2026Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5Contact-Rich Robotic Manipulation Humanoid Robot Control
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, United Arab Emirates. · Massachusetts Institute of Technology (MIT), Cambridge, MA, USA. · Minerva Humanoids, Inc.
Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives
Oct 6, 2026Xiayan Xu, Jiyu Yu, Xingzhou Chen +5Robot Teleoperation Humanoid Robot Control
The Hong Kong University of Science and Technology, Hong Kong SAR, China · Zhejiang University, Hangzhou, China · Tencent Robotics X, Shenzhen, China +1
I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
Oct 5, 2026Ziqi Han, Yitang Li, Junhan Sun +8Representation Learning Reinforcement Learning
Tongji University · Tsinghua University · Zhejiang University +3
Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture
Oct 5, 2026Seungho Yeom, Zhenyu Wu, Jaeyoung Huh +4Robotic Control Humanoid Loco-Manipulation
University of California San Diego, La Jolla, CA 92093, USA. · Yonsei University, Seoul 03722, Republic of Korea.
Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
Oct 3, 2026Yangzhi Yang, Xiansheng Lin, Zhaoming Xie +1Humanoid Robot Control Humanoid Robot Locomotion
Legged AI Lab, Shanghai Innovation Institute
Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics
Oct 1, 2026Siwei Ju, Lu Liu, Jan Peters +1Robotic Control Humanoid Robot Control
Department of Computer Science, Technical University of Darmstadt, Germany. · Robotics Institute Germany (RIG). · LimX Dynamics. +1
Reactive Humanoid Multi-Contact Using Learned Stability Models
Sep 30, 2026Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2Humanoid Robot Locomotion Humanoid Robot Control
Florida Institute for Human and Machine Cognition · University of West Florida
NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation
Sep 30, 2026Xiangyu Miao, Junsong Wu, Jiyuan Shi +6Robot Teleoperation Humanoid Robot Control
The Institute of Artificial Intelligence, China Telecom (TeleAI) · Shanghai Jiao Tong University · The University of Hong Kong +2
Locomotion-Grounded Humanoid Soccer: Task-Gated Reinforcement Learning of a Multi-Directional Kicking Library
Sep 30, 2026Abu Hanif Muhammad Syarubany, Jaehyun Jang, Hwanhee Kim +3Humanoid Robot Locomotion Robot Skill Learning
School of Electrical Engineering, KAIST, Daejeon, Republic of Korea
Learning Expressive and Compositional Motion Representation via Spectral Skills
Sep 29, 2026Feiyang Wu, Chenxiao Gao, Chen Yang +3Robot Skill Learning Humanoid Robot Control
Georgia Institute of Technology
KPI: A Promptable Kernel for Physical Interaction on Humanoids
Sep 28, 2026Yikai Wang, Honghao Zhu, Xiao Hu +5Humanoid Robot Control Impedance Control
Carnegie Mellon University. · Autel US. · Northeastern University.
GAE: General Action Expert for Real-Time Humanoid Teleoperation
Sep 28, 2026Yuefan Wang, Huaicheng Zhou, Xiao He +6Robot Teleoperation Humanoid Robot Control
Westlake Robotics · Westlake University
AMBIT: Anticipatory Multimodal Body Recruitment for Bimanual Tracking on a Humanoid
Sep 27, 2026Hanlong Li, Sihan Tan, Takeshi Ashizawa +2Bimanual Robotic Manipulation Humanoid Robot Control
Institute of Science Tokyo, Tokyo, Japan
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 +4RL for Robotics Humanoid Robot Control
VinRobotics · National University of Singapore · VinUniversity +1
ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control
Sep 23, 2026Xukun Luan, Zhongxiang Lei, Chen Gong +3Humanoid Robot Control RL for Legged Locomotion
Beijing Institute of Technology · University of Virginia · Shandong University +1
Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation
Sep 21, 2026Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1RL for Robotics Humanoid Robot Control
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.
HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments
Sep 21, 2026Toan Nguyen, Weiduo Yuan, Siheng Zhao +2Humanoid Loco-Manipulation Humanoid Robot Control
University of Southern California
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Sep 21, 2026Lei Ye, Haibo Gao, Yitang Li +10Diffusion Guidance Humanoid Robot Control
Harbin Institute of Technology · Shanghai Innovation Institute · RoboParty Lab +2
Smoothness as a Constraint for Stable Humanoid Locomotion
Sep 21, 2026Utsav Panchal, Denis Kleyko, Unal Artan +1Robotic Control Humanoid Robot Locomotion
AI, Robotics and Cybersecurity Center (ARC) and Department of Computer Science, Örebro University, Sweden
Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation
Sep 21, 2026Fukang Liu, Yipu Chen, Jaehwi Jang +3Contact-Rich Robotic Manipulation Humanoid Robot Control
Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA
EmoPose: Vision-Language Model Guided Emotion-Aware Gesture Generation for Humanoid Robots
Sep 20, 2026Daojie Peng, Bingtao Wang, Fulong Ma +3Large Language Model-Based Robot Planning Humanoid Robot Control
The Hong Kong University of Science and Technology (Guangzhou) · The Shandong University · RoboScience
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots
Sep 16, 2026Zejie Tian, Ruibing Hou, Bingpeng Ma +2Humanoid Loco-Manipulation Humanoid Robot Control
State Key Laboratory of AI Safety, Institute of Computing Technology, CAS, China.
Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Control
Sep 15, 2026Bikram Pandit, Mohitvishnu S. Gadde, Aayam Kumar Shrestha +1Robotic Control Multi-Robot Systems
Dynamics Robotics and AI Lab (DRAIL), Oregon State University, Corvallis, OR, USA
DSD: Learning Diverse and Reusable Motor Skills via Diffusion Skill Discovery
Sep 15, 2026Sun Woo Kim, Xue Bin PengRobot Skill Learning Humanoid Robot Control
Simon Fraser University, Canada · NVIDIA, Canada
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-Manipulation World Models for Robotics
1The Chinese University of Hong Kong · 4Φ-Institute · 2The University of Hong Kong +1
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
Sep 14, 2026Mohitvishnu S. Gadde, Ashish Malik, Pranay Dugar +3Robot Trajectory Tracking Humanoid Robot Control
Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR 97331
ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids
Sep 14, 2026Gechen Qu, Tong Zhang, Bike Zhang +4Safety-Critical Control Humanoid Robot Control
University of California, Berkeley · University of California, Los Angeles

Oct 8, 2026, cs.ROJ/K move · Enter open · S save

VioLA: Learning Generalist Humanoid Control Policies from Human Data

Mert Albaba, Jens Beißwenger, Anna Manasyan, Daniel Marta+5

Vesoma · ETH Zürich · MPI-IS+2

Humanoid Robot Control Robot Imitation Learning Instruction Generalization in VLA Models Latent Action Learning Cross-Embodiment Robot Learning Zero-Shot Robotic Manipulation

Open paper AskPDF arXiv

Teaching a humanoid to follow instructions with its whole body runs into two obstacles. Its action space is large and tightly coupled: legs, arms, and fingers must move together while the robot keeps its balance, which makes joint-level actions hard to learn. And humanoid demonstrations are scarce, so current humanoid generalist policies do not follow new instructions out of the box and are fine-tuned on teleoperated demonstrations of each task before deployment. Human demonstrations exist in far larger numbers, but a person's motion is not a robot command. We remove both obstacles by changing what the generalist policy predicts. We introduce VioLA, a generalist humanoid policy that predicts body and hand motion latents instead of joint commands. A pretrained body- and hand-controller execute these latents on the robot. Their corresponding motion encoders map human and robot motion into the same latent spaces. A human recording is therefore labeled in the policy's action space, and the training demonstration pool contains 140.6 million frames, 93.2% of them human. As a result, VioLA follows locomotion instructions on the real robot zero-shot, without task-specific fine-tuning, reaching 100% success where GR00T N1.7 and

Ψ_0

reach 16.7% and 0%, respectively. It also reaches 88.6% manipulation success without task-specific fine-tuning. The same approach works across two VLA and one world-action model backbones. A generalist policy trained on human demonstrations alone performs locomotion tasks on the real robot zero-shot. Code and checkpoints will be released.

Momentum

Related topics

Latest papers 121