Locomotion analysis of a quadruped interacting with the lunar granular surface
A robotics research paper on Locomotion analysis of a quadruped interacting with the lunar granular surface.
Engineering 5.0 · Research 7.0 · Business 4.0
Humanoid Robot Control Papers, Code and Reading Roadmap
Humanoid robot control covers locomotion, balance, whole-body control, reinforcement learning, sim-to-real and manipulation for bipedal robots.
Technical roadmap
Use this page to track locomotion, whole-body planning, dexterous manipulation, Tesla Optimus-style humanoid capabilities and sim-to-real research.
MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds
A robotics research paper on MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds.
Engineering 5.0 · Research 7.0 · Business 4.0
OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
A robotics research paper on OMG: Omni-Modal Motion Generation for Generalist Humanoid Control.
Engineering 5.0 · Research 7.0 · Business 4.0
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
A robotics research paper on GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains.
Engineering 5.0 · Research 7.0 · Business 4.0
AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation
A robotics research paper on AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation.
Engineering 5.0 · Research 7.0 · Business 4.0
A Spiking Neural Architecture for Coordinating Arm and Locomotor Control
A robotics research paper on A Spiking Neural Architecture for Coordinating Arm and Locomotor Control.
Engineering 5.0 · Research 7.0 · Business 4.0
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
A robotics research paper on RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning.
Engineering 5.0 · Research 7.0 · Business 4.0
EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots
A robotics research paper on EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots.
Engineering 5.0 · Research 7.0 · Business 4.0
PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning
A robotics research paper on PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning.
Engineering 5.0 · Research 7.0 · Business 4.0
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
A robotics research paper on MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation.
Engineering 5.0 · Research 7.0 · Business 4.0
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
A robotics research paper on VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands.
Engineering 5.0 · Research 7.0 · Business 4.0
HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning
A robotics research paper on HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning.
Engineering 5.0 · Research 7.0 · Business 4.0
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
A robotics research paper on EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control.
Engineering 5.0 · Research 7.0 · Business 4.0
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
A robotics research paper on OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation.
Engineering 5.0 · Research 7.0 · Business 4.0
X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting
A robotics research paper on X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting.
Engineering 5.0 · Research 7.0 · Business 4.0
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
A robotics research paper on IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations.
Engineering 5.0 · Research 7.0 · Business 4.0
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
A robotics research paper on Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain.
Engineering 5.0 · Research 7.0 · Business 4.0
Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning
A robotics research paper on Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning.
Engineering 5.0 · Research 7.0 · Business 4.0
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
A robotics research paper on Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data.
Engineering 5.0 · Research 7.0 · Business 4.0
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
A robotics research paper on Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking.
Engineering 5.0 · Research 7.0 · Business 4.0