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Humanoid Control

Control of a high-dimensional humanoid. This can include skill learning by tracking motion capture clips, learning goal-directed tasks like going towards a moving target, and generating motion within a physics simulator.

Papers

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Showing 1–37 of 37 papers

TitleStatusHype
MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBenchCode5
Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation ModelsCode4
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill BlendingCode2
Reinforcement learning-based motion imitation for physiologically plausible musculoskeletal motor controlCode2
MoCapAct: A Multi-Task Dataset for Simulated Humanoid ControlCode2
Learning Soccer Juggling Skills with Layer-wise Mixture-of-ExpertsCode1
Reincarnating Reinforcement Learning: Reusing Prior Computation to Accelerate ProgressCode1
Learning to Brachiate via Simplified Model ImitationCode1
On the model-based stochastic value gradient for continuous reinforcement learningCode1
ClipUp: A Simple and Powerful Optimizer for Distribution-based Policy EvolutionCode1
Residual Force Control for Agile Human Behavior Imitation and Extended Motion SynthesisCode1
Optical Non-Line-of-Sight Physics-based 3D Human Pose EstimationCode1
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills—0
RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control—0
Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners—0
FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control—0
One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion—0
HuB: Learning Extreme Humanoid Balance—0
Visual Imitation Enables Contextual Humanoid Control—0
Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration—0
Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems—0
Learning from Massive Human Videos for Universal Humanoid Pose Control—0
Coarse-to-fine Q-Network with Action Sequence for Data-Efficient Robot Learning—0
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control—0
CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics—0
Hierarchical World Models as Visual Whole-Body Humanoid Controllers—0
Real-Time Simulated Avatar from Head-Mounted Sensors—0
Humanoid Locomotion as Next Token Prediction—0
H-GAP: Humanoid Control with a Generalist Planner—0
Universal Humanoid Motion Representations for Physics-Based Control—0
Perpetual Humanoid Control for Real-time Simulated Avatars—0
From Universal Humanoid Control to Automatic Physically Valid Character Creation—0
Exploration with Multi-Sample Target Values for Distributional Reinforcement Learning—0
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning—0
Distributionally Robust Trajectory Optimization Under Uncertain Dynamics via Relative Entropy Trust-Regions—0
Rigorous Agent Evaluation: An Adversarial Approach to Uncover Catastrophic Failures—0
Neural probabilistic motor primitives for humanoid control—0
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