Full-Body Humanoid Control

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17 papers in the last four weeks, up 325% on the four weeks before. 0.2% of all new papers.

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  1. I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning

    Oct 5, 2026Ziqi Han, Yitang Li, Junhan Sun +8Full-Body Humanoid Control

    Tongji University · Tsinghua University · Zhejiang University +3

  2. Continue, Abort, or Fall: Viability-Aware Policy Selection (VAPS) for Safe Humanoid Acrobatics

    Oct 1, 2026Siwei Ju, Lu Liu, Jan Peters +1Full-Body Humanoid ControlBoltzmann Policies

    Department of Computer Science, Technical University of Darmstadt, Germany. · Robotics Institute Germany (RIG). · LimX Dynamics. +1

  3. 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

    Nanyang Technological University · Southeast University · Purple Mountain Laboratories

  4. CrossBFM: Distilling a Shared Latent Behavior Space Across Humanoid Embodiments

    Sep 29, 2026Tan-Dzung Do, Tuan Dat Phuong, Nico Bohlinger +6Cross-Embodiment TransferFull-Body Humanoid Control

    VinRobotics · National University of Singapore · TU Darmstadt +3

  5. Learning Expressive and Compositional Motion Representation via Spectral Skills

    Sep 29, 2026Feiyang Wu, Chenxiao Gao, Chen Yang +3Full-Body Humanoid ControlHuman-To-Robot Transfer

    Georgia Institute of Technology

  6. GAE: General Action Expert for Real-Time Humanoid Teleoperation

    Sep 28, 2026Yuefan Wang, Huaicheng Zhou, Xiao He +6Full-Body Humanoid ControlTeleoperation

    Westlake Robotics · Westlake University

  7. ForgetMimic: Motion Unlearning for Reinforcement Learning Humanoid Control

    Sep 23, 2026Xukun Luan, Zhongxiang Lei, Chen Gong +3Full-Body Humanoid ControlMotion

    Beijing Institute of Technology · University of Virginia · Shandong University +1

  8. PLAT: Sparse Timed Keyframe Motion Tracking for Humanoid Control via Privileged Latent Transition Learning

    Sep 22, 2026Zepeng Wang, Jiangxing Wang, Chao Ma +2Full-Body Humanoid ControlKeyframe Selection

    Wuhan University. · BeingBeyond. · Peking University.

  9. HOTICE: Whole-Body Humanoid Object Transportation in Cluttered Environments

    Sep 21, 2026Toan Nguyen, Weiduo Yuan, Siheng Zhao +2Full-Body Humanoid ControlAction Space

    University of Southern California

  10. PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

    Sep 21, 2026Lei Ye, Haibo Gao, Yitang Li +10Diffusion PoliciesFull-Body Humanoid Control

    Harbin Institute of Technology · Shanghai Innovation Institute · RoboParty Lab +2

  11. Smoothness as a Constraint for Stable Humanoid Locomotion

    Sep 21, 2026Utsav Panchal, Denis Kleyko, Unal Artan +1Full-Body Humanoid ControlWhole-Body Control

    AI, Robotics and Cybersecurity Center (ARC) and Department of Computer Science, Örebro University, Sweden

  12. Generative Embodied Multiple Behavior Control Systems for Human-like Agents

    Sep 19, 2026Chongyu Bao, Haokai Yang, Yuhan Wang +3Full-Body Humanoid ControlHuman Motion Generation

    University of Bristol · University of Copenhagen · Clemson University

  13. Learning Safe Humanoid Navigation from Reduced Order Models

    Sep 16, 2026William D. Compton, Zachary Olkin, Ryan Bena +1Robot NavigationAutonomous Navigation

    Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA · Amazon Safe Autonomy Frontiers (SAF) Lab

  14. DSD: Learning Diverse and Reusable Motor Skills via Diffusion Skill Discovery

    Sep 15, 2026Sun Woo Kim, Xue Bin PengUnsupervised Skill DiscoveryDiffusion Policies

    Simon Fraser University, Canada · NVIDIA, Canada

  15. Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets

    Sep 14, 2026Mohitvishnu S. Gadde, Ashish Malik, Pranay Dugar +3Full-Body Humanoid ControlWhole-Body Control

    Collaborative Robotics and Intelligent Systems Institute (CoRIS), Oregon State University, Corvallis, OR 97331

  16. ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids

    Sep 14, 2026Gechen Qu, Tong Zhang, Bike Zhang +4Safety FiltersFull-Body Humanoid Control

    University of California, Berkeley · University of California, Los Angeles

  17. EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

    Sep 13, 2026Yi Lu, Tianhao Jiang, Honglong Tian +6Gait DynamicsFull-Body Humanoid Control

    School of Electronic Science and Engineering, Nanjing University, Nanjing 210023, China. · School of Intelligence Science and Technology, Nanjing University, Suzhou 215163, China. · School of Artificial Intelligence, Nanjing University, Nanjing 210023, China. +1

  18. GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media

    Sep 9, 2026Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4TerrainLocomotion

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA · Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA

  19. BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI

    Sep 3, 2026Jianren Wang, Letian Qian, Zikai Wang +4Full-Body Humanoid ControlHumanoid

    1Carnegie Mellon University · 2Huazhong University of Science and Technology · 3JoyIn AI

  20. ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control

    Sep 1, 2026Yan Wu, Chenhao Li, Kaifeng Zhao +3Full-Body Humanoid ControlDiffusion Policies

    ETH Zurich, Switzerland

  21. SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion

    Aug 27, 2026Pihai Sun, Gang Han, Jingkai Sun +17TerrainRobot State

    1Artificial General Intelligence Institute, University of Science and Technology of China · 2X-Humanoid · 4The University of Hong Kong +5

  22. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisCollision-Free TrajectoriesFull-Body Humanoid Control

    Department of Aerospace Engineering and Engineering Mechanics, The University of Texas at Austin, TX 78712, USA.

  23. Learning Context-Aware Motion Priors for Humanoid Control

    Aug 4, 2026Yunyang Mo, Yi Gu, Yangchen Zhou +2Kinematic PriorsFull-Body Humanoid Control

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China

  24. Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation

    Jul 27, 2026Valerio Belli, Valerio Modugno, Enrico Mingo Hoffman +1Motion ImitationFull-Body Humanoid Control

    UNIROMA, UCL · Sapienza University of Rome, Rome, Italy · University College London, London, UK +3

  25. Real-Time Human-Centric World Modeling for Upper-Body Human-Object Interaction

    Jul 26, 2026Chaonan Ji, Jinwei Qi, Peng Zhang +1Full-Body Humanoid ControlVideo World Models

    Tongyi Lab, Beijing, China

  26. Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control

    Jul 22, 2026Yubiao Ma, Han Yu, Kai Guo +5Full-Body Humanoid ControlWhole-Body

    School of Automation, Beijing Institute of Technology, Beijing 100081, China. · Humanoid Robotics (Shanghai) Co., Ltd., Shanghai 201203, China. · School of Mechanical Engineering, Shandong University, Jinan 250061, China.

  27. Scaling Behavior Foundation Model for Humanoid Robots

    Jul 16, 2026Weishuai Zeng, Kangning Yin, Xiaojie Niu +15Full-Body Humanoid ControlBehavioral Foundation Models

    The Chinese University of Hong Kong · Galbot · Shanghai Artificial Intelligence Laboratory +4

  28. Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control

    Jul 15, 2026J. M. A. Marcelo, M. Brienza, E. Bugli +4Full-Body Humanoid ControlWhole-Body

    Dept. of Computer, Control, and Management Engineering Sapienza University of Rome, Rome (Italy) · Dept. of International Humanities and Social Sciences, International University of Rome, Rome (Italy)

  29. GaitSpan: Growing Humanoid Locomotion from Walking to Running

    Jul 13, 2026Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1Gait DynamicsAgile Locomotion

    University of Michigan · Skyline High School · University of Michigan, UC Berkeley

  30. Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors

    Jul 12, 2026Yunkang Cheng, Yutong Wu, Menghan Li +2Gait DynamicsFull-Body Humanoid Control

    Department of Automation, Tsinghua University, Beijing, China · Beijing Key Laboratory of Embodied Intelligence Systems, Beijing, China · Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China

  31. Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains

    Jul 8, 2026Xuanyu Chen, Mohan Liu, Dengchen Mei +6LocomotionTerrain

    Nanyang Technological University · A*STAR

  32. Immersive Social Interaction with VR and LLM-Assisted Humanoids

    Jul 8, 2026Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma +2TeleoperationFull-Body Humanoid Control

    New York University Abu Dhabi (NYUAD), UAE

  33. Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report

    Jul 8, 2026Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17Legged RobotsFull-Body Humanoid Control

    Amapbot Team, Amap, Alibaba Group

  34. WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation

    Jul 7, 2026Wongyun Yu, Youngwoon Kim, Minsu ChoWristWhole-Body Control

    Pohang University of Science and Technology (POSTECH) · RLWRLD

  35. Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control

    Jul 6, 2026Yuan Jiang, Ningyuan Zhang, Xicun Yang +2Full-Body Humanoid ControlWhole-Body Control

    XPENG ROBOTICS

  36. ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion

    Jul 3, 2026Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6Full-Body Humanoid ControlKinematic Priors

    Mechatronics, Systems and Control Lab (MSC Lab), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea · Samsung Electronics, Future Robotics AI Group, Seoul, Republic of Korea · School of Electrical Engineering, Hanyang University, Ansan 15588, Republic of Korea +1

  37. Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot

    Jun 30, 2026Ethan Marot, Thomas Bi, Clemens Schwarke +3Full-Body Humanoid ControlAgile Locomotion

    Institute for Dynamic Systems and Control, ETH Zurich, Switzerland. · Robotic Systems Lab, ETH Zurich, Switzerland

  38. AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance

    Jun 28, 2026Shuning Li, Sikai Li, Jiachen Li +1Full-Body Humanoid ControlLatent Motion

    University of North Carolina at Chapel Hill · Georgia Institute of Technology

  39. GPC: Large-Scale Generative Pretraining for Transferable Motor Control

    Jun 28, 2026Yi Shi, Yifeng Jiang, Chen Tessler +1Human Motion GenerationFull-Body Humanoid Control

    Simon Fraser University, Canada and NVIDIA, USA · NVIDIA, USA · Simon Fraser University, Canada and NVIDIA, Canada

  40. FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control

    Jun 26, 2026Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare +3Full-Body Humanoid ControlInverse Dynamics

    Carnegie Mellon University

  41. SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

    Jun 25, 2026Sirui Chen, Shibo Zhao, Zhen Wu +3Full-Body Humanoid ControlHuman Motion

    Stanford, Amazon FAR United States · Amazon FAR United States · CMU, Amazon FAR United States

  42. Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots

    Jun 24, 2026Yumeng Liu, Dongqi Wang, Jiyu Yu +3Full-Body Humanoid ControlWhole-Body Control

    Zhejiang University

  43. MotionPyramid: Hierarchical Motion Representation and Residual Interfaces

    Jun 15, 2026Gao Zhu, Zaishuo Xia, Yubei ChenFull-Body Humanoid ControlLatent Motion

    UC Davis

  44. ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion

    Jun 15, 2026Bofan Lyu, Jindou Jia, Kuangji Zuo +7Full-Body Humanoid ControlAdaptive Control

    1MARS Lab, Nanyang Technological University

  45. Trust-Region Diffusion Policies for Massively Parallel On-Policy RL

    Jun 13, 2026Huy Le, Onur Celik, Denis Blessing +6Diffusion-Based Reinforcement Learning MethodsDiffusion Policies

    Bosch Center for Artificial Intelligence · Autonomous Learning Robots, KIT · University of Texas at Austin +1

  46. Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids

    Jun 11, 2026Xiao Ren, Yuhui Yang, Zongbiao Weng +2Full-Body Humanoid ControlRobust Fall Detection

    Southern University of Science and Technology, Shenzhen 518055, China

  47. RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning

    Jun 9, 2026Yichao Zhong, Yidan Lu, Yuhang Lu +9BadmintonFull-Body Humanoid Control

    The University of Hong Kong · Archon Robotics · The Chinese University of Hong Kong

  48. GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains

    Jun 9, 2026Haoxuan Han, Chen Chen, Linao Gong +6Agile LocomotionAutonomous Navigation

    Harbin Institute of Technology · Leju Robotics

  49. OMG: Omni-Modal Motion Generation for Generalist Humanoid Control

    Jun 9, 2026Siqiao Huang, Kun-Ying Lee, Dongming Qiao +5Full-Body Humanoid ControlHuman Motion Generation

    Tsinghua University

  50. VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands

    Jun 8, 2026Dongting Li, Qianyang Wu, Xingyu Chen +9Full-Body Humanoid Control

    Tsinghua University · Xiaomi Robotics Lab · HKUST(Guangzhou)

  51. 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

    Mondo Robotics 2 HKUST (GZ) · Mondo Robotics · HKUST (GZ) 3 HKUST

  52. CG-MuTra: Continuously-Gated Multi-Terrain Adaptive Recovery for Unified Humanoid Fall Recovery and Locomotion

    Jun 8, 2026Xiaoyu Xu, Zhiming Chen, Yuenan Zhao +2Robust Fall DetectionFull-Body Humanoid Control

    School of Control Science and Engineering, Shandong University, Jinan, 250061, China · Key Laboratory of Machine Intelligence and System Control, Ministry of Education, China

  53. Self-Evolving Scientific Agent Designs Physically Reasoned White-Box Fluid Control

    Jun 7, 2026Boai Sun, Wenjin Guo, Zongmin Yu +1Control ArchitectureFull-Body Humanoid Control

    National University of Singapore, Singapore.

  54. Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain

    Jun 6, 2026Zifan Wang, Yizhao Li, Teli Ma +5Full-Body Humanoid ControlHuman Motion

    1Mondo Robotics · 2The Hong Kong University of Science and Technology (Guangzhou) · 4Artificial General Intelligence Institute, University of Science and Technology of China +2

  55. Predictive Style Matching: Natural and Robust Humanoid Locomotion

    Jun 5, 2026Simeon Nedelchev, Ekaterina Chaikovskaia, Egor Davydenko +2Full-Body Humanoid ControlHuman Motion Prediction

    Moscow Institute of Physics and Technology (MIPT), Dolgoprudny, Moscow Region, Russia · Innopolis University, Innopolis, Russia · Sber Robotics Center, Moscow, Russia

  56. T-GMP: Terrain-conditioned Generative Motion Priors for Versatile and Natural Humanoid Locomotion

    Jun 5, 2026Junhong Guo, Hao Hu, Chen Chen +6Full-Body Humanoid ControlLatent Motion

    Harbin Institute of Technology · Leju Robotics

  57. HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers

    Jun 4, 2026Lizhi Yang, Junheng Li, Nehar Poddar +5Whole-Body ControlFull-Body Humanoid Control

    California Institute of Technology · The Institute for Human & Machine Cognition

  58. TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion

    Jun 4, 2026Peizhuo Li, Hongyi Li, Mingfeng Fan +9Agile LocomotionViewpoint-Dependent Active Perception

    MarmotLab, National University of Singapore · Center of X-Mechanics, Zhejiang University · South China University of Technology

  59. Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation

    Jun 4, 2026Junheng Li, Liang Wu, Sergio A. Esteban +3Full-Body Humanoid ControlModel Predictive Control

    California Institute of Technology, CA 91106, USA · Johns Hopkins University, MD 21218, USA

  60. CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation

    Jun 3, 2026Kailun Huang, Zikang Xie, Yanzhe Xie +8Agile LocomotionGait Dynamics

    Hong Kong University of Science and Technology · Hong Kong University of Science and Technology (Guangzhou) · Guangdong University of Technology +3