Awesome Humanoid

Key papers

• Kernelized Movement Primitives (2017)
  Yanlong Huang, Leonel Rozo, João Silvério, et al.
  17.74
• Extreme Parkour With Legged Robots (2023)
  Xuxin Cheng, Kexin Shi, Ananye Agarwal, et al.
  16.21
• Learning Agile Soccer Skills For A Bipedal Robot With Deep Reinforcement Learning (2023)
  Tuomas Haarnoja, Ben Moran, Guy Lever, et al.
  16.21
• Dynamic Locomotion For Passive-ankle Biped Robots And Humanoids Using Whole-body Locomotion Control (2019)
  D. Kim, S. Jorgensen, J. Lee, et al.
  15.73
• Stair Climbing Stabilization Of The HRP-4 Humanoid Robot Using Whole-body Admittance Control (2018)
  Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier
  15.70
• GOAL: Generating 4D Whole-body Motion For Hand-object Grasping (2021)
  Omid Taheri, Vasileios Choutas, Michael J. Black, et al.
  15.40
• Footstep Planning For Autonomous Walking Over Rough Terrain (2019)
  Robert J. Griffin, Georg Wiedebach, Stephen McCrory, et al.
  14.19
• Perpetual Humanoid Control For Real-time Simulated Avatars (2023)
  Zhengyi Luo, Jinkun Cao, Alexander Winkler, et al.
  13.84
• From Motor Control To Team Play In Simulated Humanoid Football (2021)
  Siqi Liu, Guy Lever, Zhe Wang, et al.
  13.60
• A Convex Model Of Momentum Dynamics For Multi-contact Motion Generation (2016)
  Brahayam Ponton, Alexander Herzog, Stefan Schaal, et al.
  13.55
• Overcoming Some Drawbacks Of Dynamic Movement Primitives (2019)
  Michele Ginesi, Nicola Sansonetto, Paolo Fiorini
  13.34
• Neuropod: A Real-time Neuromorphic Spiking CPG Applied To Robotics (2019)
  Daniel Gutierrez-Galan, Juan Pedro Dominguez-Morales, Fernando Perez-Pena, et al.
  13.34
• Step Timing Adjustment: A Step Toward Generating Robust Gaits (2016)
  Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian, et al.
  13.23
• Online Non-linear Centroidal MPC For Humanoid Robot Locomotion With Step Adjustment (2022)
  Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, et al.
  13.05
• Active Inference Body Perception And Action For Humanoid Robots (2019)
  Guillermo Oliver, Pablo Lanillos, Gordon Cheng
  12.99
• Pose Estimation For Ground Robots: On Manifold Representation, Integration, Re-parameterization, And Optimization (2019)
  Mingming Zhang, Xingxing Zuo, Yiming Chen, et al.
  12.99
• Acinoset: A 3D Pose Estimation Dataset And Baseline Models For Cheetahs In The Wild (2021)
  Daniel Joska, Liam Clark, Naoya Muramatsu, et al.
  12.87
• Whole-body Geometric Retargeting For Humanoid Robots (2019)
  Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, et al.
  12.81
• Deep Imitation Learning For Humanoid Loco-manipulation Through Human Teleoperation (2023)
  Mingyo Seo, Steve Han, Kyutae Sim, et al.
  12.74
• Merging Position And Orientation Motion Primitives (2020)
  Matteo Saveriano, Felix Franzel, Dongheui Lee
  12.47
• A Deep Reinforcement Learning Approach For Dynamically Stable Inverse Kinematics Of Humanoid Robots (2018)
  S Phaniteja, Parijat Dewangan, Pooja Guhan, et al.
  12.40
• Advancing Humanoid Locomotion: Mastering Challenging Terrains With Denoising World Model Learning (2024)
  Xinyang Gu, Yen-Jen Wang, Xiang Zhu, et al.
  12.25
• Tailoring Solution Accuracy For Fast Whole-body Model Predictive Control Of Legged Robots (2024)
  Charles Khazoom, Seungwoo Hong, Matthew Chignoli, et al.
  12.25
• Computationally-robust And Efficient Prioritized Whole-body Controller With Contact Constraints (2018)
  Donghyun Kim, Jaemin Lee, Orion Campbell, et al.
  12.02
• A Hybrid Learning And Optimization Framework To Achieve Physically Interactive Tasks With Mobile Manipulators (2022)
  Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon, et al.
  12.02
• Demonstration-guided Deep Reinforcement Learning Of Control Policies For Dexterous Human-robot Interaction (2019)
  Sammy Christen, Stefan Stevsic, Otmar Hilliges
  11.93
• Momentum Control Of An Underactuated Flying Humanoid Robot (2017)
  Daniele Pucci, Silvio Traversaro, Francesco Nori
  11.85
• Learning Arm-assisted Fall Damage Reduction And Recovery For Legged Mobile Manipulators (2023)
  Yuntao Ma, Farbod Farshidian, Marco Hutter
  11.67
• Whole-body Humanoid Robot Locomotion With Human Reference (2024)
  Qiang Zhang, Peter Cui, David Yan, et al.
  11.67
• Humanoid Self-collision Avoidance Using Whole-body Control With Control Barrier Functions (2022)
  Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding, et al.
  11.58
• Learning Bipedal Walking For Humanoids With Current Feedback (2023)
  Rohan Pratap Singh, Zhaoming Xie, Pierre Gergondet, et al.
  11.49
• PMP: Learning To Physically Interact With Environments Using Part-wise Motion Priors (2023)
  Jinseok Bae, Jungdam Won, Donggeun Lim, et al.
  11.39
• Sim-to-real Learning For Humanoid Box Loco-manipulation (2023)
  Jeremy Dao, Helei Duan, Alan Fern
  11.29
• Prompt, Plan, Perform: Llm-based Humanoid Control Via Quantized Imitation Learning (2023)
  Jingkai Sun, Qiang Zhang, Yiqun Duan, et al.
  11.29
• Idrm: Humanoid Motion Planning With Real-time End-pose Selection In Complex Environments (2016)
  Yiming Yang, Vladimir Ivan, Zhibin Li, et al.
  11.29
• Hierarchical Optimization For Whole-body Control Of Wheeled Inverted Pendulum Humanoids (2018)
  Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
  11.08
• Efficient Humanoid Contact Planning Using Learned Centroidal Dynamics Prediction (2018)
  Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, et al.
  10.97
• Biped Stabilization By Linear Feedback Of The Variable-height Inverted Pendulum Model (2019)
  Stéphane Caron
  10.74
• Dynamic Complementarity Conditions And Whole-body Trajectory Optimization For Humanoid Robot Locomotion (2022)
  Stefano Dafarra, Giulio Romualdi, Daniele Pucci
  10.74
• Kinematic Motion Retargeting Via Neural Latent Optimization For Learning Sign Language (2021)
  Haodong Zhang, Weijie Li, Jiangpin Liu, et al.
  10.74
• Unsupervised Contact Learning For Humanoid Estimation And Control (2017)
  Nicholas Rotella, Stefan Schaal, Ludovic Righetti
  10.61
• Learning Bipedal Walking On Planned Footsteps For Humanoid Robots (2022)
  Rohan Pratap Singh, Mehdi Benallegue, Mitsuharu Morisawa, et al.
  10.61
• Learning Visuotactile Skills With Two Multifingered Hands (2024)
  Toru Lin, Yu Zhang, Qiyang Li, et al.
  10.48
• Orbit Characterization, Stabilization And Composition On 3D Underactuated Bipedal Walking Via Hybrid Passive Linear Inverted Pendulum Model (2019)
  Xiaobin Xiong, Aaron Ames
  10.35
• Stable Motion Primitives Via Imitation And Contrastive Learning (2023)
  Rodrigo Pérez-Dattari, Jens Kober
  10.21
• Inertial Sensor-based Humanoid Joint State Estimation (2016)
  Nicholas Rotella, Sean Mason, Stefan Schaal, et al.
  10.21
• Humanoidbench: Simulated Humanoid Benchmark For Whole-body Locomotion And Manipulation (2024)
  Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, et al.
  10.21
• Benchmarking Potential Based Rewards For Learning Humanoid Locomotion (2023)
  Se Hwan Jeon, Steve Heim, Charles Khazoom, et al.
  10.07
• Dynamic Movement Primitive Based Motion Retargeting For Dual-arm Sign Language Motions (2020)
  Yuwei Liang, Weijie Li, Yue Wang, et al.
  10.07
• A Benchmarking Of DCM Based Architectures For Position And Velocity Controlled Walking Of Humanoid Robots (2018)
  Giulio Romualdi, Stefano Dafarra, Yue Hu, et al.
  10.07
• Design, Analysis And Control Of The Series-parallel Hybrid RH5 Humanoid Robot (2021)
  Julian Esser, Shivesh Kumar, Heiner Peters, et al.
  9.92
• NICOL: A Neuro-inspired Collaborative Semi-humanoid Robot That Bridges Social Interaction And Reliable Manipulation (2023)
  Matthias Kerzel, Philipp Allgeuer, Erik Strahl, et al.
  9.92
• Capture Steps: Robust Walking For Humanoid Robots (2020)
  Marcell Missura, Maren Bennewitz, Sven Behnke
  9.76
• Revisiting Reward Design And Evaluation For Robust Humanoid Standing And Walking (2024)
  Bart van Marum, Aayam Shrestha, Helei Duan, et al.
  9.76
• LIKO: Lidar, Inertial, And Kinematic Odometry For Bipedal Robots (2024)
  Qingrui Zhao, Mingyuan Li, Yongliang Shi, et al.
  9.61
• Data-efficient And Safe Learning For Humanoid Locomotion Aided By A Dynamic Balancing Model (2019)
  Junhyeok Ahn, Jaemin Lee, Luis Sentis
  9.59
• Mixed Reality Teleoperation Assistance For Direct Control Of Humanoids (2024)
  Luigi Penco, Kazuhiko Momose, Stephen McCrory, et al.
  9.59
• Online DCM Trajectory Generation For Push Recovery Of Torque-controlled Humanoid Robots (2019)
  Milad Shafiee, Giulio Romualdi, Stefano Dafarra, et al.
  9.59
• Universal Actions For Enhanced Embodied Foundation Models (2025)
  Jinliang Zheng, Jianxiong Li, Dongxiu Liu, et al.
  9.49
• ASAP: Aligning Simulation And Real-world Physics For Learning Agile Humanoid Whole-body Skills (2025)
  Tairan He, Jiawei Gao, Wenli Xiao, et al.
  9.46