Humanoid Robotics

Follow this topic Ask about this topic

Momentum

21 papers in the last four weeks, up 110% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 103

All topics

A Bayesian framework for the uncanny valley in humanoid robot design
Jul 7, 2026Shimon Honda, Rin Shibano, Hideyoshi YanagisawaHuman Preference Modeling Hierarchical Bayesian Modeling
Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan.
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
Jun 30, 2026Xinyi Wang, Donghan Li, Zi'Ang Chen +5Bimanual Robotic Manipulation Robotic Data Collection
Fudan University · ByteDance Intelligent Creation · Shanghai AI Laboratory
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory
Jun 30, 2026Yuhan Wu, Zhao Jin, Tao Li +9Dexterous Manipulation Long-Horizon Robotic Manipulation
University of Science and Technology of China · 2Beijing Innovation Center of Humanoid Robotics
HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
Jun 25, 2026Hongwu Wang, Chenhao Yu, Youhao Hu +3Robot Skill Learning Robotic Data Collection
Beijing Academy of Artificial Intelligence
Self Capacitive Tactile Sensor System designed for Companion Robots
Jun 24, 2026Mohsin Ali, Hidenobu Sumioka, Shuhei IkemotoTactile Sensing Robotic Tactile Sensing
Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196 Japan · Advanced Telecommunications Research Institute International, 2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto 619-0288 Japan
PhysDrift: Bridging the Embodiment Gap in Humanoid Co-Speech Motion Generation
Jun 18, 2026Zhangzhao Liang, Xiaofen Xing, Mingyue Yang +2Human Motion Generation Robot Motion Generation
South China University of Technology · DexForce Technology · Foshan University
Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI
Jun 18, 2026Shaoshan Liu, Xiugong Qin, Xuan Wu +4Robotics Embodied AI
Toward Machine Risk Perception: Integrating Trust Calibration and Precursor-Based Risk Estimation for Humanoid
Jun 18, 2026He WenHuman-Robot Collaboration Human-Robot Interaction
AI Safety Lab, Bailey College of Engineering & Technology, Indiana State University, Terre Haute, IN
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Jun 16, 2026Taowen Wang, Zikang Xie, Bin Yang +13Humanoid Robot Control Hierarchical RL
The Hong Kong University of Science and Technology (Guangzhou) · Beijing University of Technology · Harbin Institute of Technology, Shenzhen +2
WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots
Jun 15, 2026Thang Tran Viet, Thanh Nguyen Canh, Gia Huy Uong +4Human Motion Generation Audio-Visual Synchronization
University of Engineering and Technology, Vietnam National University, 10000, Hanoi, Vietnam. · School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, 923-1211, Ishikawa, Japan. · School of Electronics and Computer Science, University of Southampton, SO17 1BJ Southampton, United Kingdom. +1
$λ$ -Reachability: Geometric-Horizon Safety Bellman Equations for Humanoid Safety
Jun 14, 2026Rui Chen, Shangtao Li, Yifan Sun +1Reachability Analysis Temporal-Difference Learning
Robotics Institute Carnegie Mellon University United States · Mechanical Engineering Carnegie Mellon University United States
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm
Jun 14, 2026Nestor N. Deniz, Sebastian Vega, Simon Parsons +1Robotics System Identification
Engineering Department at Harper Adams University, Newport, Shropshire TF10 8NB, UK · Lincoln Institute for Agri-Food Technology and Lincoln Centre for Autonomous Systems
Proprioceptive-visual correspondence enables self-other distinction in humanoid robots
Jun 11, 2026Yurun Chen, Tianyuan Gao, Yizhong Ge +5Robotic Perception Humanoid Robotics
Eastern Institute of Technology, Ningbo · Peking University · Carnegie Mellon University +3
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
Jun 11, 2026Zhihai Bi, Qiang Zhang, Guoyang Zhao +8Contact-Rich Robotic Manipulation Robot Motion Generation
The Hong Kong University of Science and Technology (Guangzhou) · Artificial General Intelligence Institute, University of Science and Technology of China · The University of Hong Kong +1
PEBRE: An Open-Hardware Compute and Perception Add-On for the Pepper Robot
Jun 10, 2026Malte Kuhlmann, Ignacio Bugueno-Cordova, Emil Alms +2Robotics Robotic Perception
Leibniz Universität Hannover, L3S Research Center, Appelstraße 4, Hanover, 30167, Lower Saxony, Germany. · University of Chile, Department of Electrical Engineering, Avda. Tupper 2007, Santiago, 8370451, Region Metropolitana, Chile. · University of Chile, Advanced Mining Technology Center, Avda. Tupper 2007, Santiago, 8370451, Region Metropolitana, Chile.
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
Jun 9, 2026Yichao Zhong, Yidan Lu, Yuhang Lu +9Reinforcement Learning Robot Skill Learning
The University of Hong Kong · Archon Robotics · The Chinese University of Hong Kong
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
Jun 8, 2026Dongting Li, Qianyang Wu, Xingyu Chen +9Humanoid Robot Control Robotic Manipulation
Tsinghua University · Xiaomi Robotics Lab · HKUST(Guangzhou)
CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion
Jun 8, 2026Xiaoyu Xu, Zhiming Chen, Yuenan Zhao +2Humanoid Robot Locomotion Robot Failure Recovery
School of Control Science and Engineering, Shandong University, Jinan, 250061, China · Key Laboratory of Machine Intelligence and System Control, Ministry of Education, China
Vision-Guided Dual-Arm Humanoid Robotic Disassembly of End-of-Life 18650 Lithium-ion Battery Packs
Jun 6, 2026Yile Chen, Zhihao Liu, Xi Vincent Wang +1Bimanual Robotic Manipulation Robotic Manipulation
KTH Royal Institute of Technology, Brinellvägen 8, 114 28, Stockholm, Sweden
Cybernetic Android Avatar "Yui": System Integration, Field Deployment, and Evaluation
Jun 6, 2026Kaoruko Shinkawa, Mizuki Nakajima, Taisei Mogi +1Robot Teleoperation Robotics
Department of Mechanical and Intelligent Systems Engineering, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, 182-8585, Tokyo, Japan. · Department of Mechanical Engineering, Graduate School of Engineering, Tokyo Denki University, 5 Senjuasahicho, Adachi-ku, 120-8551, Tokyo, Japan.
Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning
Jun 6, 2026Zihao Wang, Shijie Peng, Kerui Wu +6Cooperative MARL Humanoid Robotics
National Key Laboratory of Novel Software Technology, Nanjing University, Nanjing, China · School of Artificial Intelligence, Nanjing University, Nanjing, China · Beijing Academy of Artificial Intelligence, BAAI, Beijing, China
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
Jun 2, 2026Tianchen Huang, Feiyang Yuan, Junchi Gu +5Cross-Embodiment Robot Learning Motion Retargeting
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China
PHASOR: Phase-Anchored Universal Action Representations for Humanoid Embodiments
Jun 1, 2026Kihyun Kim, Chaeyun Kim, Jongho Shin +4Latent Action Learning Representation Learning
AIM Intelligence · Seoul National University · LG Electronics +2
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
May 26, 2026Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti +13Humanoid Robot Control Human-Robot Collaboration
GenerativeBionics, Genova, Italy. · 2Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genova, Italy. · School of Computer Science, University of Manchester, Manchester, United Kingdom. +3
Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
May 21, 2026Jiahe Chen, ZiRui Wang, Feiyu Jia +7Robot Motion Generation Robotic Manipulation
Zhejiang University · Shanghai AI Laboratory · The Chinese University of Hong Kong
Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments
May 21, 2026Peifeng Jiang, Hong Liu, Jin Jin +23D Gaussian Splatting Safe Robot Navigation
State Key Laboratory of General Artificial Intelligence, Peking University, Shenzhen Graduate School · Oxford Robotics Institute, University of Oxford · Institute for Machine Learning, Department of Computer Science, ETH Zurich
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
May 20, 2026Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6Humanoid Loco-Manipulation Large Language Model-Based Robot Planning
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
Adversarial Stress Testing of SPARK Humanoid Safety Filters
May 18, 2026Saurav Ghosh, Abdou Sow, Luke ZhangAdversarial Robustness Robotics
aDepartment of Computer Science and Engineering, Washington University in St. Louis, Missouri, United States
Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors
May 18, 2026Yidan Lu, Yichao Zhong, Liu Zhao +2Humanoid Robot Locomotion Robot Failure Recovery
The University of Hong Kong, Hong Kong SAR, China.
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation
May 12, 2026Yiren Song, Xiyao Deng, Pei Yang +2Unsupervised Domain Adaptation Streaming Video Generation
Show Lab, National University of Singapore

Jul 7, 2026, cs.ROJ/K move · Enter open · S save

A Bayesian framework for the uncanny valley in humanoid robot design

Shimon Honda, Rin Shibano, Hideyoshi Yanagisawa

Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan.

Human Preference Modeling Hierarchical Bayesian Modeling Humanoid Robotics

Open paper AskPDF arXiv

The uncanny valley is a long-standing empirical rule in humanoid robot design: making robots more human-like can reduce, rather than increase, affinity. Yet existing guidelines, such as adopting robot-like appearances, avoiding excessive realism, and reducing cross-modal mismatches, remain difficult to use for algorithmic design because they are not expressed as manipulable variables. Here, we propose a hierarchical Bayesian generative model that operationalizes these guidelines as mathematical design variables. The model represents affinity toward humanoid robots as posterior-weighted negative category-conditional surprise and explains category ambiguity and perceptual mismatch as increases in surprise. It maps uncanny-valley mechanisms onto four variables: deviation from the predicted robot-category mean, inconsistency in human likeness across modalities, prediction uncertainty, and observational uncertainty. Simulations showed that category ambiguity and appearance--motion mismatch can produce affinity reductions, and that uncertainty reshapes the valley. In a human-subject experiment with robot--human morphing images, we manipulated prediction uncertainty using blurred prior robot stimuli and observational uncertainty using blurred evaluation stimuli. Increased observational uncertainty attenuated the decrease in familiarity ratings at intermediate human likeness, whereas low prediction uncertainty increased ratings for robot-like appearances. This framework turns empirical uncanny-valley heuristics into a computational basis for algorithmically evaluating and optimizing humanoid robot appearance and behavior.

Momentum

Related topics

Latest papers 103