Robot Motion Generation

Follow this topic Ask about this topic

Momentum

25 papers in the last four weeks, up 733% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 120

All topics

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
May 23, 2026Yusen Feng, Xiang Wang, Heyuan Yao +7Latent Action Learning Humanoid Robot Locomotion
Peking University
Sparse Compositional Flow Matching by geometric assembly from motion primitives
May 22, 2026Yan Tang, Yuanbo Tang, Tingyu Cao +2Flow Matching Robot Motion Generation
Tsinghua Shenzhen Graduate School, Tsinghua University, Shenzhen, China · School of AI, Chinese University of Hong Kong (Shenzhen)
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
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
May 20, 2026Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8Physical Consistency in Video Generation Robot Motion Generation
Harvard AI and Robotics Lab, Harvard University · Media Lab and EECS, MIT · MIT-IBM Watson AI Lab +1
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
Mechanisms of Misgeneralization in Physical Sequence Modeling
May 19, 2026Kento Nishi, Raphael Tang, Karun Kumar +2Robot Motion Generation Generative Modeling
1Harvard College · 2Harvard John A. Paulson School of Engineering and Applied Sciences · 3Comcast AI +3
Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
May 14, 2026Haozhe Jia, Honglei Jin, Yuan Zhang +9Robotic Control Latent Action Learning
The Hong Kong University of Science and Technology (Guangzhou). · LimX Dynamics Technology Co., Ltd. · Shandong University. +3
Action Emergence from Streaming Intent
May 12, 2026Pengfei Jing, Victor Shea-Jay Huang, Hengtong Lu +3End-to-End Autonomous Driving Robot Motion Generation
1Li Auto · 3CUHK · 2Tsinghua University
Closing the Motion Execution Gap: From Semantic Motion Task Constraints to Kinematic Control
May 12, 2026Simon Stelter, Vanessa Hassouna, Malte Huerkamp +1Robotic Control Robot Motion Generation
University of Bremen
Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
May 9, 2026Jianhui Chen, Ruixin Zhan, Liu Liu +2Sim-to-Real Transfer Constrained RL
Amap, Alibaba Group
HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
May 6, 2026Nandiraju Gireesh, Yuanliang Ju, Chaoyi Xu +3Hierarchical Planning Long-Horizon Robotic Manipulation
1Peking University · University of Toronto. · 2Galbot
A Principled Approach for Creating High-fidelity Synthetic Demonstrations for Imitation Learning
May 2, 2026Moniruzzaman Akash, Momotaz BegumSynthetic Data Generation for Robotics Robot Motion Generation
Department of Computer Science · University of New Hampshire
Reactive Motion Generation via Phase-varying Neural Potential Functions
Apr 29, 2026Ahmet Tekden, Dimitrios Kanoulas, Aude Billard +1Robotic Control Robot Motion Generation
Chalmers University of Technology, Sweden · University College London, UK · Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland
MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives
Apr 27, 2026Tingwu Wang, Olivier Dionne, Michael De Ruyter +13Human Motion Generation Robot Motion Generation
NVIDIA, USA · NVIDIA, Canada · NVIDIA, Switzerland and ETH Zürich, Switzerland +6
CF-VLA: Efficient Coarse-to-Fine Action Generation for Vision-Language-Action Policies
Apr 27, 2026Fan Du, Feng Yan, Jianxiong Wu +8Robotic Control Efficient VLA Model Inference
1Southern University of Science and Technology · 2Xi’an Jiaotong University · 3United Nova Technology +1
QDTraj: Exploration of Diverse Trajectory Primitives for Articulated Objects Robotic Manipulation
Apr 24, 2026Mathilde Kappel, Mahdi Khoramshahi, Louis Annabi +2Trajectory Generation Robot Motion Generation
Institute of Intelligent Systems and Robotics, CNRS, Sorbonne University, Paris, F-75005, France
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
Apr 23, 2026Yiming Zhong, Yaoyu He, Zemin Yang +5Diffusion Policy Robot Motion Generation
ShanghaiTech University, Shanghai, China · Morphic Robotics, Shenzhen, China · The Chinese University of Hong Kong, Hong Kong, China.
Multimodal embodiment-aware navigation transformer
Apr 21, 2026Louis Dezons, Quentin Picard, Rémi Marsal +2Off-Road Robot Navigation Robot Navigation
AMIAD Pˆole Recherche, Palaiseau, France · U2IS, ENSTA, Institut Polytechnique de Paris, Palaiseau, France
Locomotion of an Elastic Snake Robot via Natural Dynamics
Apr 20, 2026Tristan Ehlert, Arne Sachtler, Annika Schmidt +2Dynamical Systems Energy-Efficient Robot Locomotion
German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Münchner Str. 20, 82234 Weßling, Germany · Technical University of Munich (TUM), Department of Computer Engineering; Boltzmannstraße 3, 85748 Garching, Germany
Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles
Apr 19, 2026Peiwen Yang, Shiyu Bai, Weisong Wen +2Diffusion Model Guidance UAV Navigation
Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong
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
Online Generation of Collision-Free Trajectories in Dynamic Environments
Feb 28, 2026Nermin Covic, Bakir LacevicConstrained Motion Planning Trajectory Optimization
Faculty of Electrical Engineering, University of Sarajevo, Bosnia and Herzegovina
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
Dec 29, 2025Zhe Li, Yangyang Wei, Boan Zhu +9Humanoid Robot Locomotion Human Motion Generation
Nanyang Technological University · BAAI · Harbin Institute of Technology +4
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Dec 2, 2025Iana Zhura, Sausar Karaf, Faryal Batool +7Visual Navigation Trajectory Generation
Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology.
Few-Shot Demonstration-Driven Task Coordination and Trajectory Execution for Multi-Robot Systems
Oct 17, 2025Taehyeon Kim, Vishnunandan L. N. Venkatesh, Byung-Cheol MinRobot Motion Generation Imitation Learning
Purdue University, West Lafayette, IN, USA · Astemo Americas, Inc., Farmington Hills, MI, USA · Indiana University Bloomington, Bloomington, IN, USA
A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot
Jun 5, 2025Ping-Kong Huang, Chien-Wu Lan, Chin-Tien Wu +1Robotic Control Robot Trajectory Tracking
Department of Applied Mathematics, National Yang Ming Chiao Tung University, Hsinchu 30010, Taiwan · Department of Electrical Engineering, National Central University, Taoyuan City 320317, Taiwan
Captivity-Escape Games as a Means for Safety in Online Motion Generation
Jun 2, 2025Christopher Bohn, Manuel Hess, Sören HohmannTrajectory Generation Safety-Critical Control
Institute of Control Systems, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany
Prior Reinforce: Goal-Conditioned Dynamic Manipulation with Limited Trials
May 28, 2025Yihang Hu, Pingyue Sheng, Yuyang Liu +2Robot Policy Adaptation Robot Skill Learning
IIIS, Tsinghua University. · Shanghai Qi Zhi Institute. · Spirit AI.
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
May 27, 2025Zhefeng Cao, Ben Liu, Shunpeng Yang +3Diffusion Guidance Cross-Embodiment Robot Learning
Southern University of Science and Technology, Shenzhen, China · The Hong Kong University of Science and Technology, HongKong, China · LimX Dynamics, Shenzhen, China. +1

May 23, 2026, cs.ROJ/K move · Enter open · S save

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

Yusen Feng, Xiang Wang, Heyuan Yao, Zixi Kang+6

Peking University

Latent Action Learning Humanoid Robot Locomotion Robot Skill Learning Robot Motion Generation Robot Imitation Learning

Open paper AskPDF arXiv

This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like humans under the guidance of example motion sequences. To achieve this, we employ vector-quantized autoencoders (VQ-VAEs) trained with model-based reinforcement learning, resulting in a generative representation of locomotion that captures key patterns of human motion from hours of heterogeneous human performance data. We employ a teacher-student learning framework and develop a new policy distillation strategy to enable a deployable student policy learning this efficient latent representation. This policy allows the robot to track and mimic unseen human motions and further enables the robot to reuse the learned latent space for other tasks. We demonstrate the effectiveness of our framework through a diverse set of motions and accurate execution.

Momentum

Related topics

Latest papers 120