Paper Citation Record · LEDGER

Learning Humanoid Locomotion with Perceptive Internal Model

As of 16 August 2026, this Paper Citation Record lists 32 of 32 outbound references and 25 inbound Pith citation observations for arXiv:2411.14386.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2411.14386 v1

Coverage vector

measured 32 of 32 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-12T15:17:21.681210Z

measured 57 of 57 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-15T06:32:42.880941+00:00

measured 25 of 25 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T23:48:56.580834Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-03T01:17:31.225889Z

Reference resolution

32 of 32 outbound references displayed

verified exact0
verified fuzzy7
unresolved25
parse uncertain0
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External citation measurements

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Outbound references

Observation b09d828d-0a9f-4d46-b8e1-1f8ff7374050 · outbound

This paper cites Learning agile and dynamic motor skills for legged robots,.

Learning Humanoid Locomotion with Perceptive Internal Model Learning agile and dynamic motor skills for legged robots,

Reference 1

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Observation 3cdd693c-4b86-42e4-b696-981fe6d65b67 · outbound

This paper cites Learning quadrupedal locomotion over challenging terrain,.

Learning Humanoid Locomotion with Perceptive Internal Model Learning quadrupedal locomotion over challenging terrain,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.587972Z

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Observation 9cbda987-9f99-4f77-90f5-269ee5c176cf · outbound

This paper cites Hybrid internal model: Learning agile legged locomotion with simulated robot response,.

Learning Humanoid Locomotion with Perceptive Internal Model Hybrid internal model: Learning agile legged locomotion with simulated robot response,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.907933Z

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Observation f9a8d372-e8e9-4b23-a9d3-f8edf713a7d0 · outbound

This paper cites Learning h-infinity locomotion control,.

Learning Humanoid Locomotion with Perceptive Internal Model Learning h-infinity locomotion control,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.898566Z

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Observation f9efd19a-3606-4258-b32f-b9ea33082fbe · outbound

This paper cites Walk these ways: Tuning robot control for generalization with multiplicity of behavior,.

Learning Humanoid Locomotion with Perceptive Internal Model Walk these ways: Tuning robot control for generalization with multiplicity of behavior,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.597560Z

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Observation 21c66419-aeaa-4636-91d1-369d6d19b91d · outbound

This paper cites Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning.

Learning Humanoid Locomotion with Perceptive Internal Model Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.601858Z

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Observation a20bc2ef-3273-4970-8a6d-3a6fc98f6816 · outbound

This paper cites Humanoid Locomotion as Next Token Prediction.

Learning Humanoid Locomotion with Perceptive Internal Model Humanoid Locomotion as Next Token Prediction

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.606094Z

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Observation e7e4986b-5db1-48ee-b8d8-d211c77a1bee · outbound

This paper cites Berkeley Humanoid: A Research Platform for Learning-based Control.

Learning Humanoid Locomotion with Perceptive Internal Model Berkeley Humanoid: A Research Platform for Learning-based Control

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.610124Z

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Observation 9af84ec7-b8d8-4f96-8866-f9ad557cefa4 · outbound

This paper cites Adapting humanoid locomotion over challenging terrain via two-phase training,.

Learning Humanoid Locomotion with Perceptive Internal Model Adapting humanoid locomotion over challenging terrain via two-phase training,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.884094Z

Source-reported events for the cited work

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Observation bd509214-064a-4495-858d-94e545fd8616 · outbound

This paper cites Humanoid Parkour Learning.

Learning Humanoid Locomotion with Perceptive Internal Model Humanoid Parkour Learning

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.617688Z

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Observation 90a99efa-68d2-4c86-9f9d-41822b475201 · outbound

This paper cites Expressive Whole-Body Control for Humanoid Robots.

Learning Humanoid Locomotion with Perceptive Internal Model Expressive Whole-Body Control for Humanoid Robots

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.620653Z

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Observation f54423c6-5f6a-42ce-81ff-221ecfbfc677 · outbound

This paper cites Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation.

Learning Humanoid Locomotion with Perceptive Internal Model Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.623819Z

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Observation cb48ead5-b9c2-4cc6-85b1-8ce89d9bfb85 · outbound

This paper cites Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots.

Learning Humanoid Locomotion with Perceptive Internal Model Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.626931Z

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Observation 1faeb97e-c34f-45a0-9128-ca235bc7a959 · outbound

This paper cites HumanPlus: Humanoid Shadowing and Imitation from Humans.

Learning Humanoid Locomotion with Perceptive Internal Model HumanPlus: Humanoid Shadowing and Imitation from Humans

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.629976Z

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Observation 2b3fcfbb-5112-437e-a3c3-3c4b2b3a1114 · outbound

This paper cites Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer.

Learning Humanoid Locomotion with Perceptive Internal Model Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.632784Z

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Observation c0fb7ae8-6b5b-4d85-b2bf-b7197ca93ddc · outbound

This paper cites Hierarchical World Models as Visual Whole-Body Humanoid Controllers.

Learning Humanoid Locomotion with Perceptive Internal Model Hierarchical World Models as Visual Whole-Body Humanoid Controllers

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.635789Z

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Observation e2168669-8a71-4b05-b7b4-ca916dfd2dc3 · outbound

This paper cites Harmon: Whole-body motion generation of humanoid robots from language descriptions,.

Learning Humanoid Locomotion with Perceptive Internal Model Harmon: Whole-body motion generation of humanoid robots from language descriptions,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.875093Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 778b4f0a-00d1-4205-95bb-dde3beff5e7a · outbound

This paper cites Okami: Teaching humanoid robots manipulation skills through single video imitation,.

Learning Humanoid Locomotion with Perceptive Internal Model Okami: Teaching humanoid robots manipulation skills through single video imitation,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.866357Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 806d5652-7bee-4f1a-bdee-cf99eab87513 · outbound

This paper cites Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking.

Learning Humanoid Locomotion with Perceptive Internal Model Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.644666Z

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Observation 57dbf178-3484-4db1-9a38-51bf1084f0e3 · outbound

This paper cites WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts.

Learning Humanoid Locomotion with Perceptive Internal Model WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.647970Z

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Observation 19e25364-6496-4b63-b5fa-332018e8fc1f · outbound

This paper cites Bi-level motion imitation for humanoid robots,.

Learning Humanoid Locomotion with Perceptive Internal Model Bi-level motion imitation for humanoid robots,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.857815Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 67310294-3928-4fb9-ba3d-f28109664425 · outbound

This paper cites OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning.

Learning Humanoid Locomotion with Perceptive Internal Model OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Reference 22

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Observation 82284c02-eac1-4f28-afbf-9af711d81aea · outbound

This paper cites Extreme parkour with legged robots,.

Learning Humanoid Locomotion with Perceptive Internal Model Extreme parkour with legged robots,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.656577Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 038c249e-e8d7-451b-96b8-b5d69c59574b · outbound

This paper cites Legged locomotion in challenging terrains using egocentric vision,.

Learning Humanoid Locomotion with Perceptive Internal Model Legged locomotion in challenging terrains using egocentric vision,

Reference 24

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Observation 25703339-8e43-4457-91c8-7409087178e2 · outbound

This paper cites Anymal parkour: Learning agile navigation for quadrupedal robots,.

Learning Humanoid Locomotion with Perceptive Internal Model Anymal parkour: Learning agile navigation for quadrupedal robots,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.661945Z

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Observation 0494973f-5a4d-4023-90d9-972c198ee116 · outbound

This paper cites Learning robust perceptive locomotion for quadrupedal robots in the wild,.

Learning Humanoid Locomotion with Perceptive Internal Model Learning robust perceptive locomotion for quadrupedal robots in the wild,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.664657Z

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Unavailable: canonical work link unavailable.

Observation f03bda24-c420-4090-af9f-6e0209a8b065 · outbound

This paper cites Elevation mapping for locomotion and navigation using gpu,.

Learning Humanoid Locomotion with Perceptive Internal Model Elevation mapping for locomotion and navigation using gpu,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.667572Z

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Observation 14c66dba-8dd1-4b34-a1b4-dc4e023ce496 · outbound

This paper cites Proximal Policy Optimization Algorithms.

Learning Humanoid Locomotion with Perceptive Internal Model Proximal Policy Optimization Algorithms

Reference 28

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Observation abc9a6a1-bb0c-410b-a6f7-eabf4659d228 · outbound

This paper cites Unsupervised learning of visual features by contrasting cluster assign- ments,.

Learning Humanoid Locomotion with Perceptive Internal Model Unsupervised learning of visual features by contrasting cluster assign- ments,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:17:21.824348Z

Source-reported events for the cited work

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Observation 89099b97-4763-4d98-a6f7-88608cc56c97 · outbound

This paper cites Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter,.

Learning Humanoid Locomotion with Perceptive Internal Model Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated kalman filter,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.676017Z

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Observation ce597bfc-e08e-4c60-aaf6-3af52fa11b8a · outbound

This paper cites Fast-lio2: Fast direct lidar- inertial odometry,.

Learning Humanoid Locomotion with Perceptive Internal Model Fast-lio2: Fast direct lidar- inertial odometry,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-12T15:17:21.678562Z

Source-reported events for the cited work

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Observation 9ff39421-1219-4247-afb2-1a9c911d8c52 · outbound

This paper cites Leveraging Symmetry in RL-based Legged Locomotion Control.

Learning Humanoid Locomotion with Perceptive Internal Model Leveraging Symmetry in RL-based Legged Locomotion Control

Reference 32

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Pith citing papers

Observation be770c6d-2001-42a9-b77b-c9e546aa5c85 · inbound

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills cites this paper.

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Learning Humanoid Locomotion with Perceptive Internal Model

Reference 50

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Observation ace45211-fb9f-4481-af71-53e9102972c4 · inbound

Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions cites this paper.

Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Learning Humanoid Locomotion with Perceptive Internal Model

Reference 27

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Observation eaff2f33-dc03-4237-9177-850375e15ec0 · inbound

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion cites this paper.

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion Learning Humanoid Locomotion with Perceptive Internal Model

Reference 28

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Observation d13cb1b1-08d2-4e37-9a4b-fbdb198dd6e1 · inbound

Learning Humanoid Standing-up Control across Diverse Postures cites this paper.

Learning Humanoid Standing-up Control across Diverse Postures Learning Humanoid Locomotion with Perceptive Internal Model

Reference 28

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Observation b655bd5c-76a3-40d5-94ec-4926230a15fb · inbound

MuJoCo Playground cites this paper.

MuJoCo Playground Learning Humanoid Locomotion with Perceptive Internal Model

Reference 36

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Observation 2ae35a1c-a050-4505-88b4-3a21afaab8f9 · inbound

Visual Imitation Enables Contextual Humanoid Control cites this paper.

Visual Imitation Enables Contextual Humanoid Control Learning Humanoid Locomotion with Perceptive Internal Model

Reference 17

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Observation 593b09cb-bba6-4d91-aad7-5251857c6462 · inbound

JAEGER: Dual-Level Humanoid Whole-Body Controller cites this paper.

JAEGER: Dual-Level Humanoid Whole-Body Controller Learning Humanoid Locomotion with Perceptive Internal Model

Reference 13

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Observation 6c7ccd32-417a-42bd-9393-46e700ef08a2 · inbound

HuB: Learning Extreme Humanoid Balance cites this paper.

HuB: Learning Extreme Humanoid Balance Learning Humanoid Locomotion with Perceptive Internal Model

Reference 42

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Observation 261e1040-99e1-491b-9a53-185aea7b7d3f · inbound

DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion cites this paper.

DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion Learning Humanoid Locomotion with Perceptive Internal Model

Reference 28

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Source-reported events for the cited work

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Observation 2ba3ccf9-5482-40b8-9909-402d985ddebc · inbound

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control cites this paper.

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control Learning Humanoid Locomotion with Perceptive Internal Model

Reference 7

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Observation 18804ac1-c96f-4f69-ad7b-79ae91ad12c3 · inbound

MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains cites this paper.

MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains Learning Humanoid Locomotion with Perceptive Internal Model

Reference 5

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Observation 1d2c7889-e28c-45cf-97c8-ddfcef6a6dcb · inbound

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills cites this paper.

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills Learning Humanoid Locomotion with Perceptive Internal Model

Reference 43

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Observation 0ddc8873-1d51-438b-9395-348eb13f75cc · inbound

A Survey: Learning Embodied Intelligence from Physical Simulators and World Models cites this paper.

A Survey: Learning Embodied Intelligence from Physical Simulators and World Models Learning Humanoid Locomotion with Perceptive Internal Model

Reference 88

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Observation 248508b6-c00d-486c-8f67-b1e224c35b05 · inbound

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains cites this paper.

Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains Learning Humanoid Locomotion with Perceptive Internal Model

Reference 13

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Observation 4328919e-aad2-498a-9b59-06d259632217 · inbound

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots cites this paper.

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots Learning Humanoid Locomotion with Perceptive Internal Model

Reference 30

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Observation b6144260-5db1-4d74-83b9-5285bae7964f · inbound

KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion cites this paper.

KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion Learning Humanoid Locomotion with Perceptive Internal Model

Reference 2024

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Observation 418cd66b-fbaa-4c65-a567-13b075f97197 · inbound

One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors cites this paper.

One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors Learning Humanoid Locomotion with Perceptive Internal Model

Reference 3

Resolution: verified exact; arxiv_id, observed 2026-05-18T04:00:51.050248Z

Source-reported events for the cited work

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Observation 9b6c1481-9986-4285-801d-d274150bfd19 · inbound

Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning cites this paper.

Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning Learning Humanoid Locomotion with Perceptive Internal Model

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-05-17T23:52:13.326989Z

Source-reported events for the cited work

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Observation 91ce6a34-e438-4a99-906a-6064137c6685 · inbound

Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels cites this paper.

Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels Learning Humanoid Locomotion with Perceptive Internal Model

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-05-16T07:27:32.273194Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 3432c383-8823-4d1d-8539-662231abe023 · inbound

TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior cites this paper.

TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior Learning Humanoid Locomotion with Perceptive Internal Model

Reference 35

Resolution: verified exact; arxiv_id, observed 2026-05-16T05:42:23.914239Z

Source-reported events for the cited work

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Observation ab186110-8150-4476-bff2-3ec40adf3a89 · inbound

HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model cites this paper.

HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model Learning Humanoid Locomotion with Perceptive Internal Model

Reference 39

Resolution: verified exact; arxiv_id, observed 2026-05-16T05:12:20.994520Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation b3aa4fa5-a25a-477d-8123-2287073b7df8 · inbound

SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision cites this paper.

SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision Learning Humanoid Locomotion with Perceptive Internal Model

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-05-12T00:11:17.503870Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 7eb5ee95-6041-4cf4-b77e-a3511546f17e · inbound

LadderMan: Learning Humanoid Perceptive Ladder Climbing cites this paper.

LadderMan: Learning Humanoid Perceptive Ladder Climbing Learning Humanoid Locomotion with Perceptive Internal Model

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-07-02T13:26:58.737377Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 1d0e0450-cbe5-4a2e-a11b-9257302b2191 · inbound

VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands cites this paper.

VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands Learning Humanoid Locomotion with Perceptive Internal Model

Reference 45

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:17:31.227277Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation fdecda3e-d38c-4be5-a7ca-b7fff3fc8e5c · inbound

TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion cites this paper.

TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion Learning Humanoid Locomotion with Perceptive Internal Model

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-07-02T21:27:24.740338Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.