Recent interesting robotics papers
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation

- combines upper and lower body for policy training
- curriculum training for force adaptation

#arxiv #humanoid #locomanip

X Overview, Project Website
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Yuanhang Zhang (@Yuanhang__Zhang)
🦾How can humanoids unlock real strength for heavy-duty loco-manipulation?

Meet FALCON🦅: Learning Force-Adaptive Humanoid Loco-Manipulation.

🌐: https://lecar-lab.github.io/falcon-humanoid/

See the details below👇:
arxiv humanoid locomanip
AMO:
Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

- framework that integrates sim-to-real reinforcement learning (RL) with trajectory optimization for real-time, adaptive whole-body control

#RSS2025 #humanoid

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Xuxin Cheng (@xuxin_cheng)
Meet 𝐀𝐌𝐎 — our universal whole‑body controller that unleashes the 𝐟𝐮𝐥𝐥  kinematic workspace of humanoid robots to the physical world.
AMO is a single policy trained with RL + Hybrid Mocap & Trajectory‑Opt.

Accepted to #RSS2025.
Try our open models & more…
RSS2025 humanoid
TWIST Teleoperated Whole-Body Imitation System

- single network for whole-body control

#arxiv #humanoid

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Yanjie Ze (@ZeYanjie)
🤖Introducing TWIST: Teleoperated Whole-Body Imitation System.

We develop a humanoid teleoperation system to enable coordinated, versatile, whole-body movements, using a single neural network.

This is our first step toward general-purpose robots.

🌐http://humanoid…
arxiv humanoid
VideoMimic Visual imitation enables contextual humanoid control

- used human video to learn policy for humanoid
- real-to-sim-to-real tendency

#arxiv #real2sim2real #humanoid #reconstruction

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Arthur Allshire (@arthurallshire)
our new system trains humanoid robots using data from cell phone videos, enabling skills such as climbing stairs and sitting on chairs in a single policy

(w/ @redstone_hong @junyi42 @davidrmcall)
arxiv real2sim2real humanoid reconstruction
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

- universal controller for humanoids utilizing co-train with mask
- detailed benchmark

#RSS2025 #humanoid

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Tairan He (@TairanHe99)
🤖 Humanoids are expected to be the ultimate embodiment for general-purpose robots, but reaching that potential means adapting to diverse tasks—navigation, tabletop manipulation, loco-manipulation—each needing unique control modes.

🤔 Can one controller handle…
RSS2025 humanoid
 
 
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