Humanoid Robot Control

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

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MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control
May 25, 2026Bin Li, Ruichi Zhang, Han Liang +4Robotic Control Humanoid Robot Control
ShanghaiTech University, China · University of Pennsylvania, USA · Bytedance Seed, China +3
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
May 25, 2026Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2Safety-Critical Control Control Barrier Functions
Department of Intelligence and Information, Seoul National University, Republic of Korea · Robotics Lab, Hyundai Motor Group, Republic of Korea · Advanced Institute of Convergence Technology, Republic of Korea +1
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
May 22, 2026Constant Roux, Ludovic De Matteïs, Armand Jordana +4Humanoid Robot Control Motion Retargeting
LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France · IRT Saint-Exupéry, Toulouse, France · Artificial and Natural Intelligence Toulouse Institute (ANITI), Toulouse, France
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
May 22, 2026Ming Yang, Tao Yu, Feng Li +1Humanoid Robot Control Cross-Embodiment Robot Learning
LimX Dynamics
SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control
May 21, 2026Jingyan Zhang, Han Liang, Ruichi Zhang +6RL for Robotics Humanoid Robot Control
ShanghaiTech University, China · Bytedance Seed, China · University of Pennsylvania, USA +2
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 Contact-Rich Robotic Manipulation
Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA
Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation
May 12, 2026Hamza Ahmed Durrani, Suleman KhanRobot Teleoperation Humanoid Robot Control
WeGo Robotics
BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
May 5, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robotic Data Collection Humanoid Robot Control
Beijing Academy of Artificial Intelligence
ExoActor: Exocentric Video Generation as Generalizable Interactive Humanoid Control
Apr 30, 2026Yanghao Zhou, Jingyu Ma, Yibo Peng +3Humanoid Robot Control Language-Conditioned Robot Control
Beijing Academy of Artificial Intelligence (BAAI)
RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots
Apr 24, 2026Zihui LiuHumanoid Robot Locomotion Humanoid Robot Control
Stanford University
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Apr 23, 2026Yucheng Xin, Jiacheng Bao, Yubo Dong +5Robot Policy Learning Humanoid Robot Control
Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, China · Shanghai AI Laboratory, Shanghai Jiao Tong University
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Apr 23, 2026Yucheng Xin, Jiacheng Bao, Haoran Yang +6Robotic Control Humanoid Robot Control
Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, China · Shanghai AI Laboratory · University of Science and Technology of China
UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
Apr 21, 2026Boyu Chen, Yi Chen, Lu Qiu +3Latent Action Learning Humanoid Robot Control
1XPENG Robotics · 2Tsinghua University · 3The University of Hong Kong
Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots
Apr 21, 2026Yulai Zhang, Yinrong Zhang, Ting Wu +1Legged Robotics Humanoid Robot Control
School of Future Technology, Shanghai University, Shanghai, China
Switch: Learning Agile Skills Switching for Humanoid Robots
Apr 16, 2026Yuen-Fui Lau, Qihan Zhao, Yinhuai Wang +4Humanoid Robot Locomotion Humanoid Robot Control
The Hong Kong University of Science and Technology
BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
Apr 1, 2026Donghoon Baek, Sang-Hun Kim, Sehoon HaRL for Robotics Humanoid Robot Control
Georgia Institute of Technology, Atlanta, GA, 30308, USA · Samsung Research
SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
Mar 25, 2026Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang +1Robotic Control Humanoid Robot Control
Physical AI Lab, RX, Samsung Electronics
PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking
Mar 13, 2026Jiacheng Bao, Haoran Yang, Yucheng Xin +7Robot Trajectory Tracking Humanoid Robot Control
Shanghai AI Laboratory · University of Science and Technology of China · Tsinghua University +3
FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
Mar 9, 2026Niraj Pudasaini, Yutong Zhang, Jensen Lavering +3Bimanual Robotic Manipulation Humanoid Robot Control
Department of Computer Science, University of Colorado Boulder, Boulder, CO 80309.
Learning Human-Like Badminton Skills for Humanoid Robots
Feb 9, 2026Yeke Chen, Shihao Dong, Xiaoyu Ji +12Humanoid Robot Control Robotic RL
Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China · EngineAI Robotics Technology Co., Ltd., Shenzhen, China
Humanoid Whole-Body Badminton via an Annealed Reinforcement Learning Curriculum
Nov 14, 2025Chenhao Liu, Leyun Jiang, Ningyuan Tian +4RL for Robotics Reinforcement Learning
Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments
Oct 30, 2025Gangyang Li, Hongzhe Shi, Qing Shi +5RL for Robotics Humanoid Loco-Manipulation
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology · Beijing Academy of Artificial Intelligence
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Sep 18, 2025Xingyu Chen, Hanyu Wu, Sikai Wu +7Humanoid Robot Control Synthetic Data Generation for Robotics
1HKUST(GZ) · 4Xiaomi Robotics Lab · 2ETH Zurich +1
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming
Jul 15, 2025Asad Ali Shahid, Francesco Braghin, Loris RovedaLong-Horizon Robotic Manipulation Robot Skill Learning
IDSIA, SUPSI, Lugano, Switzerland · Department of Mechanical Engineering, Politecnico di Milano, Italy
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Jun 15, 2025Weiji Xie, Jinrui Han, Jiakun Zheng +6Humanoid Robot Control Robot Imitation Learning
Institute of Artificial Intelligence (TeleAI), China Telecom · Shanghai Jiao Tong University · East China University of Science and Technology +2
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models
May 16, 2025Lizhi Yang, Blake Werner, Adrian B. Ghansah +1Humanoid Robot Locomotion Humanoid Robot Control
AMBER Lab at the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA
SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier Functions Humanoid Robot Control
Mechanical and Civil Engineering, California Institute of Technology · Aerospace Engineering and Engineering Mechanics, UT Austin · Computer Science, Cornell University
Dancing with REEM-C: A robot-to-human physical-social communication study
Aug 9, 2024Marie Charbonneau, Francisco Javier Andrade Chavez, Katja MombaurHumanoid Robot Control Human-Robot Interaction
Mechanical and Manufacturing Engineering, University of Calgary, 2500 University Drive NW, Calgary, AB, T2N 1N4, Canada. · Systems Design, University of Waterloo, 200 University Ave W, Waterloo, ON, N2L 3G1, Canada. · Engineering, Thompson Rivers University, 805 TRU Way, Kamloops, BC, V2C 0C8, Canada. +1
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Date pendingHongjin Chen, Wei Zhang, Pengfei Li +10RL for Robotics Humanoid Robot Control
Fudan University · TARS Robotics · Tsinghua University +3
Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control
Date pendingHiroshi Atsuta, Hisashi Ishihara, Minoru AsadaRobotic Control Robot Trajectory Tracking
Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary Research Initiatives, The University of Osaka, Suita, Osaka, Japan · College of Arts and Design, Ritsumeikan University, Kyoto, Japan · International Professional University of Technology in Osaka, Umeda, Kita-ku, Osaka, Japan +1

May 25, 2026, cs.CVJ/K move · Enter open · S save

MIND: Multi-Scale Intent Diffusion for Text-Driven Physics-Based Humanoid Control

Bin Li, Ruichi Zhang, Han Liang, Jingyan Zhang+3

ShanghaiTech University, China · University of Pennsylvania, USA · Bytedance Seed, China+3

Robotic Control Humanoid Robot Control Language-Conditioned Robot Control

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Enabling physics-based humanoids to execute diverse behaviors from high-level textual commands remains a significant challenge. Existing methods typically follow either a two-stage paradigm that combines kinematic motion generation with physics-based tracking, or an end-to-end imitation-learning paradigm that directly generates actions from text. However, the former suffers from the inherent domain shift between kinematic generation and physics-based tracking, while the latter struggles with the substantial modality gap between textual commands and low-level actions, limiting effective semantic alignment. Notably, humanoid states encode rich motion dynamics that are more semantically aligned with textual descriptions than low-level actions, making them a natural basis for deriving behavioral intent. Building upon this insight, we propose MIND, a novel end-to-end diffusion framework for text-driven physics-based humanoid control that leverages behavioral intent as a semantic bridge between textual commands and low-level actions. At its core, MIND introduces a multi-scale intent diffusion mechanism, where a holistic intent predictor captures global behavioral dynamics to guide overall behavior synthesis, while an immediate intent predictor provides step-wise, fine-grained signals for local behavior refinement at each diffusion step. This hierarchical intent formulation imposes a structured inductive bias for humanoid control, improving semantic alignment and behavioral naturalness. Furthermore, MIND encodes humanoid states into a latent space to enable more effective semantic intent modeling. Extensive experiments demonstrate that MIND outperforms existing methods and synthesizes coherent, physically plausible, and semantically aligned humanoid behaviors from text commands. Project page: https://binlee26.github.io/MIND_page.

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