An autoregressive diffusion model with a hybrid explicit-root/latent-body representation generates real-time, controllable 3D human motion from text and spatial constraints.
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Asap: Aligning simulation and real-world physics for learning agile humanoid whole-body skills
45 Pith papers cite this work, alongside 2 external citations. Polarity classification is still indexing.
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abstract
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between simulation and the real world. Existing approaches, such as system identification (SysID) and domain randomization (DR) methods, often rely on labor-intensive parameter tuning or result in overly conservative policies that sacrifice agility. In this paper, we present ASAP (Aligning Simulation and Real-World Physics), a two-stage framework designed to tackle the dynamics mismatch and enable agile humanoid whole-body skills. In the first stage, we pre-train motion tracking policies in simulation using retargeted human motion data. In the second stage, we deploy the policies in the real world and collect real-world data to train a delta (residual) action model that compensates for the dynamics mismatch. Then, ASAP fine-tunes pre-trained policies with the delta action model integrated into the simulator to align effectively with real-world dynamics. We evaluate ASAP across three transfer scenarios: IsaacGym to IsaacSim, IsaacGym to Genesis, and IsaacGym to the real-world Unitree G1 humanoid robot. Our approach significantly improves agility and whole-body coordination across various dynamic motions, reducing tracking error compared to SysID, DR, and delta dynamics learning baselines. ASAP enables highly agile motions that were previously difficult to achieve, demonstrating the potential of delta action learning in bridging simulation and real-world dynamics. These results suggest a promising sim-to-real direction for developing more expressive and agile humanoids.
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representative citing papers
DeVI enables zero-shot physically plausible dexterous control by imitating synthetic videos via a hybrid 3D-human plus 2D-object tracking reward.
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.
A multi-source 16,074-clip quadruped motion library plus a flow-matching generalist tracker shows empirical data scaling and zero-shot unseen tracking, integrated with all-terrain locomotion and real-robot deployment.
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.
PressMimic fuses RGB and pressure for pose estimation via FRAPPE++ and uses pressure signals in RL policy PSP, backed by the MotionPRO dataset, to achieve physically consistent humanoid motion imitation.
OmniContact introduces contact flow as a shared representation of body trajectories and contact signals to learn and chain loco-manipulation meta-skills, reporting 98.7% success on box carrying and 76.5% on push-stack tasks.
Stubborn introduces a unified RL framework with yaw-aligned representation, Bernoulli probabilistic termination, and adaptive sampling for robust humanoid motion tracking and fall recovery.
FAWAM integrates force signals into perception, prediction, and closed-loop correction, raising success rates 36% over vision baselines in contact-rich manipulation tasks.
EgoPriMo learns a unified egocentric motion prior with a Triple-stream DiT model that supports reconstruction, generation, and forecasting of SMPL motions from egocentric views and text, outperforming prior methods and transferable to humanoid controllers.
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.
MPC-based retargeting framework enables cross-morphology whole-body teleoperation from a single XR device via dynamic feasibility optimization, state synchronization, and SLAM feedback, with reported gains in simulation and real-world tests.
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 depth-image visuomotor policy with a force-adaptive whole-body controller to push objects of unknown mass to arbitrary goals on a humanoid.
A weightlessness mechanism enables humanoid robots to dynamically relax joints for stable, contact-rich motions across diverse environments without task-specific tuning.
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.
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BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
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.