Whole-Body Humanoid Control

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8 papers2 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

HITCH: Teaching a Vision-Language Model to Operate a Humanoid through a Whole-Body Harness
Nov 5, 2026Qingzhou Lu, Chenxin Liu, Xinming Wang +4Whole-Body Humanoid Control Humanoid Robot Control
Tsinghua University. · Institute of Automation, Chinese Academy of Sciences. · Shanghai Qizhi Institute.
FORGE: Feasible Online Reduced-Order Reference Generation and Whole-Body Execution for Agile Humanoid Locomotion
Oct 27, 2026Adrian B. Ghansah, Yujin An, Jeeseop Kim +1Whole-Body Humanoid Control Humanoid Robot Locomotion
A. B. Ghansah, and S. J. Chung are with the Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA 91125, USA · Y. An is with the Department of Bioengineering, California Institute of Technology, Pasadena, CA 91125, USA · J. Kim is with the Dept. of Aerospace and Mechanical Engineering, The University of Texas at El Paso, TX 79968, USA
SP-HLM: Sparse-Pose-Driven Motion Generation and Whole-Body Control for Humanoid Loco-Manipulation
Oct 21, 2026Zhaohui Yang, Quanbao Lin, Chengqi Shi +9Whole-Body Humanoid Control Humanoid Loco-Manipulation
Shanghai Jiao Tong University · The University of Hong Kong · Moore Threads
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
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
Sep 8, 2026Anqi Li, Yuxin Chen, Zhaobo Li +4Robot Navigation Humanoid Robot Control
University of California, Berkeley · Peking University · Tsinghua University +2
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Jun 15, 2026Siddharth Padmanabhan, Kazuki Miyazawa, Takato HoriiRobotic Control Humanoid Robot Control
Graduate School of Engineering Science, University of Osaka, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
Jun 8, 2026Jia Zheng, Teli Ma, Yudong Fan +3Humanoid Loco-Manipulation Humanoid Robot Control
Mondo Robotics 2 HKUST (GZ) · Mondo Robotics · HKUST (GZ) 3 HKUST
Humanoid Whole-Body Badminton via an Annealed Reinforcement Learning Curriculum
Nov 14, 2025Chenhao Liu, Leyun Jiang, Ningyuan Tian +4RL for Robotics Reinforcement Learning

Nov 5, 2026J/K move · Enter open · S save

HITCH: Teaching a Vision-Language Model to Operate a Humanoid through a Whole-Body Harness

Qingzhou Lu, Chenxin Liu, Xinming Wang, Liu Cao+3

Tsinghua University. · Institute of Automation, Chinese Academy of Sciences. · Shanghai Qizhi Institute.

Whole-Body Humanoid Control Humanoid Robot Control VLMs for Robotics Vision-Language-Action Models

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Enabling vision-language models (VLMs) to control humanoid robots requires both reliable whole-body interfaces and knowledge of how to use the body that carries over across tasks. We present HITCH (Harness Interfaces To Command Humanoids), a harness in which perception returns the 3D position of any point the VLM selects in its image, and execution turns commands for the pelvis, torso, hands, walking, and gaze into whole-body motion with a learned tracker. We find that both measuring the scene and executing commands accurately raise task success. We then fine-tune a VLM on trajectories in which teacher policies solve five base tasks through HITCH, so that it learns how to operate the humanoid. Without task-specific trajectories, the fine-tuned model completes 51% of SIMPLE episodes and 42.5% of HumanoidArena episodes, and adding five trajectories per SIMPLE task raises its SIMPLE success to 95%. On a real G1, it carries a box and walks to a goal without real training data.