DeVI enables zero-shot physically plausible dexterous control by imitating synthetic videos via a hybrid 3D-human plus 2D-object tracking reward.
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Asap: Aligning simulation and real-world physics for learning agile humanoid whole-body skills
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BeyondMimic combines compact motion tracking with a unified guided latent diffusion model to master diverse agile behaviors from human demos and solve unseen downstream tasks via test-time classifier guidance.
FADA is a three-stage Planner-IDM method that achieves few-shot domain adaptation for humanoid control by distilling an oracle policy then finetuning only the IDM on short target-domain rollouts via supervised learning.
SceneBot conditions a humanoid tracking policy on motion references and contact labels, using reconstructed scene-interaction data to unify free-space locomotion with contact-rich manipulation and terrain tasks.
Perceptive BFM grounds human motion priors in robot terrain perception via terrain-conformal reference synthesis and teacher-student transfer from adapted to raw-reference tracking.
A multi-condition latent diffusion model transfers human motion styles to diverse humanoid robot contents with physics regularizations, achieving 96% success in real-robot trials on Unitree G1.
UniLab is a CPU/GPU heterogeneous system for robot RL training using MuJoCoUni and MotrixSim backends that reports 3-10x end-to-end efficiency improvements and cross-platform compatibility beyond CUDA.
Imagine2Real enables zero-shot humanoid-object interaction by unifying motions as 4D point trajectories, tracking only base/hands/object keypoints inside a BFM latent space, and training with progressive simple rewards for mocap deployment.
LineRides enables commandable bicycle robot stunts via line-guided RL that uses spatial guidelines, a tracking margin for feasibility, distance-based progress, and sparse key-orientations.
BifrostUMI enables robot-free human demonstration capture via VR and wrist cameras to train visuomotor policies that predict keypoint trajectories for transfer to humanoid whole-body control through retargeting.
VOFA combines a high-level visuomotor policy with a low-level force-adaptive controller to let humanoids push objects up to 17 kg to arbitrary goals using only noisy onboard vision, achieving over 80% real-world success.
GS-Playground delivers a high-throughput photorealistic simulator for vision-informed robot learning via parallel physics integrated with batch 3D Gaussian Splatting at 10^4 FPS and an automated Real2Sim workflow for consistent environments.
Differentiable simulation enables torque-sensor-free actuator model identification from trajectory data, achieving 1.88x better position tracking than a stand-trained baseline and 46% longer travel in downstream locomotion policies.
RoSHI is a hybrid wearable that combines sparse IMUs and egocentric SLAM to capture accurate full-body 3D pose and shape data in natural environments for robot learning.
HAIC enables robust humanoid interactions with underactuated objects by predicting their dynamics from proprioceptive history and using a world model for adaptive control.
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
Humanoid-LLA converts unconstrained natural language commands into stable whole-body motions for humanoid robots using a unified motion vocabulary and two-stage supervised-plus-reinforcement fine-tuning.
Scaling motion tracking models along size, data volume, and compute produces a foundation model for natural, robust humanoid whole-body control with downstream uses in kinematic planning and vision-language-action models.
QuadVerse integrates 3D Gaussian Splatting scene reconstruction, friction calibration via trajectory search, and a residual dynamics compensator to improve quadruped simulation fidelity and enable zero-shot policy transfer.
TAM is a policy-agnostic torque adaptation module trained in randomized simulation that improves zero-shot real-robot performance on dynamic manipulation tasks compared to system identification and RMA baselines.
M3imic unifies heterogeneous motion modalities via encoders into a shared latent space for a single RL-trained whole-body controller achieving high sim success and sim-to-real transfer on Unitree G1.
Humanoid-GPT is a causal Transformer pre-trained on a unified billion-scale motion dataset that tracks dynamic behaviors with zero-shot generalization to unseen motions and tasks.
SPRINT generates sprint trajectories for humanoids via spectral priors from five human motion sequences, achieving 6 m/s peak velocity with zero-shot sim-to-real transfer on Unitree G1.
ParkourFormer achieves 93.85% average success on multi-terrain humanoid parkour by fusing Transformer sequence modeling with supervised future-state prediction.
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