Awesome-Humanoid-Robot-Learning

Basic Info. This repo collects academic papers about humanoid robot learning. They are mainly categorized by the tasks they focus on. The papers with real robot experiments are preferred in this list. The papers with open-sourced code are added with a star🌟.

Feel free to pull a request for new papers/codes about humanoid robot learning.

• Awesome-Humanoid-Robot-Learning
• Loco-Manipulation and Whole-Body-Control
• Manipulation
• Teleoperation
• Locomotion
• Navigation
• State Estimation
• Sim-to-Real
• Hardware Design
• Simulation Benchmark
• Physics-Based Character Animation
• Human Motion Analysis and Synthesis
• Contact

Loco-Manipulation and Whole-Body-Control

• arXiv 2026.06, SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation, website
• 🌟 arXiv 2026.05, SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework, website / code
• arXiv 2026.05, ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
• arXiv 2026.03, Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
• arXiv 2026.03, SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating, website
• 🌟website 2026.03, LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
• arXiv 2026.03, Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• arXiv 2026.03, SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning, website
• arXiv 2026.03, ZeroWBC: Learning Natural Visuomotor Humanoid Control Directly from Human Egocentric Video, website
• arXiv 2026.03, Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery
• arXiv 2026.03, ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation, website
• arXiv 2026.02, OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
• arXiv 2026.02, LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations, website
• arXiv 2026.02, Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation
• arXiv 2026.02, VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety
• arXiv 2026.02, Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching, website
• arXiv 2026.02, MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
• arXiv 2026.02, Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement
• arXiv 2026.02, General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
• arXiv 2026.02, HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model, website
• arXiv 2026.02, EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration, website
• arXiv 2026.02, MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
• arXiv 2026.02, Learning Human-Like Badminton Skills for Humanoid Robots
• arXiv 2026.02, TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• arXiv 2026.02, DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
• arXiv 2026.02, Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations, website
• arXiv 2026.02, HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
• arXiv 2026.02, Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
• arXiv 2026.02, PDF-HR: Pose Distance Fields for Humanoid Robots
• arXiv 2026.02, HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
• arXiv 2026.02, Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
• arXiv 2026.02, HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos, website
• arXiv 2026.02, TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
• arXiv 2026.02, ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
• arXiv 2026.01, Robust and Generalized Humanoid Motion Tracking
• arXiv 2026.01, RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing
• arXiv 2026.01, PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes
• arXiv 2026.01, Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
• arXiv 2026.01, FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
• arXiv 2026.01, Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations
• arXiv 2026.01, Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
• arXiv 2026.01, Deep Whole-body Parkour
• arXiv 2025.12, Coordinated Humanoid Manipulation with Choice Policies
• arXiv 2025.12, UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
• arXiv 2025.12, EGM: Efficiently Learning General Motion Tracking Policy for High Dynamic Humanoid Whole-Body Control
• arXiv 2025.12, Semantic Co-Speech Gesture Synthesis and Real-Time Control for Humanoid Robots
• arXiv 2025.12, CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
• arXiv 2025.12, PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations
• arXiv 2025.12, Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
• arXiv 2025.12, Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning
• arXiv 2025.12, Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
• arXiv 2025.11, Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
• arXiv 2025.11, Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulation
• arXiv 2025.11, HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
• arXiv 2025.11, SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control
• arXiv 2025.11, SafeFall: Learning Protective Control for Humanoid Robots
• arXiv 2025.11, Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
• arXiv 2025.11, VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
• arXiv 2025.11, HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
• arXiv 2025.11, Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning
• arXiv 2025.11, Robot Crash Course: Learning Soft and Stylized Falling
• arXiv 2025.11, Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots
• arXiv 2025.11, SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• arXiv 2025.11, Unified Humanoid Fall-Safety Policy from a Few Demonstrations
• arXiv 2025.11, Towards Adaptive Humanoid Control via Multi-Behavior Distillation and Reinforced Fine-Tuning
• arXiv 2025.11, GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
• arXiv 2025.11, BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• arXiv 2025.11, Learning Vision-Driven Reactive Soccer Skills for Humanoid Robots
• arXiv 2025.11, TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
• arXiv 2025.10, Thor: Towards Human-Level Whole-Body Reactions for Intense Contact-Rich Environments
• arXiv 2025.10, One-shot Humanoid Whole-body Motion Learning
• arXiv 2025.10, Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
• arXiv 2025.10, SoftMimic: Learning Compliant Whole-body Control from Examples
• arXiv 2025.10, From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
• arXiv 2025.10, Towards Adaptable Humanoid Control via Adaptive Motion Tracking
• arXiv 2025.10, Learning Human-Humanoid Coordination for Collaborative Object Carrying
• arXiv 2025.10, Ego-Vision World Model for Humanoid Contact Planning, website
• arXiv 2025.10, DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
• arXiv 2025.10, PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
• arXiv 2025.10, It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots
• arXiv 2025.10, ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• arXiv 2025.10, HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
• arXiv 2025.10, Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• arXiv 2025.09, OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• arXiv 2025.09, Towards Versatile Humanoid Table Tennis: Unified Reinforcement Learning with Prediction Augmentation
• arXiv 2025.09, SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
• arXiv 2025.10, VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• arXiv 2025.09, HDMI: Learning Interactive Humanoid Whole-Body Control from Hu