Topic

Humanoids & locomotion

Whole-body control, legged locomotion, and loco-manipulation on human-form robots.

69papers in 2026-07

5.92%of all cs.RO that month

+1.31ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"humanoid" OR abs:"legged locomotion" OR abs:"whole-body control")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2026-07-30

PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball

Lizhi Yang, Junheng Li, Aaron D. Ames

clubHumanoids & locomotion Safety & evaluation

2026-06-29

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Yen-Jen Wang, Jiaman Li, Sirui Chen +9

clubHumanoids & locomotion Egocentric & human data

2025-07-16

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

Ruihan Yang, Qinxi Yu, Yecheng Wu +12 · 131 citations

clubVision-language-action Humanoids & locomotion

2022-06-28

DayDreamer: World Models for Physical Robot Learning

Philipp Wu, Alejandro Escontrela, Danijar Hafner +2 · 553 citations

clubCoRLWorld models Humanoids & locomotion

2022-06-08

Deep Hierarchical Planning from Pixels

Danijar Hafner, Kuang-Huei Lee, Ian Fischer +1 · 145 citations

clubNeurIPSWorld models Humanoids & locomotion

2020-10-05

Mastering Atari with Discrete World Models

Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi +1 · 1,321 citations

clubICLRWorld models Humanoids & locomotion

Recent work

2026-08-27

SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion

Pihai Sun, Gang Han, Jingkai Sun +17

Humanoids & locomotion

2026-08-27

Arrive and Survive: Scaling Safe Goal-Conditioned Policy Learning from One-Bit Failure Signals

Guopeng Li, Yiyang Duan, Yiru Jiao +1

Humanoids & locomotion Reinforcement learning & control

2026-08-27

Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions

Xulin Chen, Borui He, Ruipeng Liu +3

Humanoids & locomotion

2026-08-26

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

Xiaomi Embodied Intelligence Team, University of Macau, : +21

Vision-language-action Humanoids & locomotion

2026-08-26

EgoNav: Bridging Learned Waypoints and Geometry-Aware Local Control for Robust Indoor Navigation

Jing Wang, Shiqi Zhao, Hairong Qu +1

Humanoids & locomotion Navigation & mobility

2026-08-26

SUPER ODOMETRY 2.0: Resilient Odometry via Hierarchical Adaptation

Shibo Zhao, Sifan Zhou, Yuchen Zhang +4 · 12 citations

Sci. RoboticsHumanoids & locomotion Safety & evaluation

2026-08-26

LAC: Linear and Angular Compliance for Humanoid Whole-body Control

Yang Liu, Zhongkai Gu, Wei Zhu +1

Humanoids & locomotion Reinforcement learning & control

2026-08-26

RAEM: Robust Autonomous Exploration for Multi-Floor Environments with a Quadruped Robot

Zikang Yuan, Yuan Ren, Yian Wang +10

Humanoids & locomotion Navigation & mobility

2026-08-25

CARO: Contact-Agnostic Residual Observation for Zero-Shot Robust Quadruped Locomotion

Zihan Yang, Shixuan Han, Kexin Guo +1

Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-24

Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid

Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +2

IROS 2026Humanoids & locomotion

2026-08-24

Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers

Hossein Abdi, Satya Prakash Dash, Mingfei Sun

Humanoids & locomotion Reinforcement learning & control

2026-08-24

Physics Filtering Favors the Generalization of Robot Learning

Jindou Jia, Shixuan Han, Meng Wang +8 · 1 citation

Humanoids & locomotion Navigation & mobility

2026-08-23

Physical Agentic AI: An Architecture for Orchestrating a Robot Crew with LLMs

Xinyuan Liu, Eren Sadikoglu, Riana Chatterjee +1

Humanoids & locomotion Navigation & mobility

2026-08-23

TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation

Haoran Lin, Mingyu Yang, Pengfei Qi +6

Humanoids & locomotion Navigation & mobility

2026-08-23

DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model

Jie Yin, Xingyu Lai

World models Humanoids & locomotion

2026-08-22

DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion

Sanghyun Park, Moonkyu Jung, Jemin Hwangbo

ICRA 2027Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-21

GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly

Max Conway, William Xie, Allen Devaraj +14

Dexterous manipulation Humanoids & locomotion

2026-08-21

Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface

Aniruddh Kushwah, Vyankatesh Ashtekar, Ashish Dutta

Humanoids & locomotion Egocentric & human data

2026-08-21

Natural Sit-to-Stand Motion Synthesis For Humanoids via Guided Assistance Curricula and Staged Rewards

Meet Pal Singh, Vyankatesh Ashtekar, Ashish Dutta

Humanoids & locomotion Reinforcement learning & control

2026-08-20

Humanoid Musical Robots as Experimental Interfaces for Music-Evoked Emotion

Vincent K. M. Cheung, Jia-Yeu Lin

Humanoids & locomotion Human-robot interaction

2026-08-20

Video2DoorTraversal: Push Door Traversal via Simulated Door Twins

Xincheng Tang, Yiji Chen, Youhan Xie +8

Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-20

DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation

Siyuan Ma, Boshi Zhang, Yutian Zhang +4

World models Humanoids & locomotion

2026-08-20

Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking

Tao Huang, Ruofei Liu, Xuchen Tang +15

Humanoids & locomotion Egocentric & human data

2026-08-20

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

Zeren Luo, Jiahui Zhang, Yimin Han +4 · 1 citation

Humanoids & locomotion Imitation & diffusion policies

2026-08-20

MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces

Zeren Luo, Jiahui Zhang, Zhe Xu +6 · 1 citation

RA-LHumanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-20

Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning

Tanachai Anakewat, Takayuki Osa, Tatsuya Harada

IROS 2026Humanoids & locomotion Reinforcement learning & control

2026-08-19

Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control

Chaoyi Pan, Zeji Yi, John Zhang +3

Dexterous manipulation Humanoids & locomotion

2026-08-19

SCAPE: Scenario-Conditioned Simulation-Augmented Policy Evaluation

Dijie Zhu, Seunghun Oh, Ruopeng Huang +3

Humanoids & locomotion Simulation, sim-to-real & benchmarks

2026-08-19

Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots

SeongWon Nam, Hyunyong Lee, Hansol Kang +5

RA-LHumanoids & locomotion Reinforcement learning & control

2026-08-18

GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction

Ziyang Cheng, Tianshu Tang, Jinxin Lan +17

World models Humanoids & locomotion

2026-08-18

CompCPZ: Preserving Multi-Modal Intent in Language-Guided Robot Manipulation

Zhen Zhang, Ahmad Hafez, Peng Xie +3

Vision-language-action Humanoids & locomotion

2026-08-18

HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction

Wang Warren Chen, Jiahao Zhang, Zhenjiang Li +6

Humanoids & locomotion Safety & evaluation

2026-08-18

Optimal control of a swimming robot based on Purcell's microswimmer model

Noam Berkovich Lahav, Oren Wiezel, Yizhar Or

Humanoids & locomotion

2026-08-18

EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control

Songwei Wu, Rui Zhao, Fan Yang +7

Vision-language-action Dexterous manipulation

2026-08-18

Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning

Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda +2

IROS 2026Dexterous manipulation Humanoids & locomotion

2026-08-17

FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences

Omar Rayyan, Zhi Li, Max Argus +4

Dexterous manipulation Humanoids & locomotion

2026-08-17

HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL

Langzhe Gu, Chengkai Hou, Meng Li +14

Vision-language-action Humanoids & locomotion

2026-08-17

Throwing a Tight Spiral American Football by a Humanoid Robot

Zaid Mahboob, Bowen Weng

Humanoids & locomotion Reinforcement learning & control

2026-08-17

Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain

Zhiqiao Guo, Bichi Zhang, Sören Schwertfeger

Humanoids & locomotion Navigation & mobility

2026-08-17

HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction

Jiahao Ji, Ji Ma, Runhan Zhang +12

Humanoids & locomotion Egocentric & human data

320 papers in this corpus carry the humanoids & locomotion tag. How tagging works.