paper preview
01arXiv
JEPLO: Joint-Embedding Predictive Learning for LiDAR-Based Legged Locomotion
Lets legged robots climb stairs and high obstacles from raw LiDAR scans without building a map.
Paper Sweeps
Humanoid Papers from September 20 to September 26, 2026
8Locomotion2Motion Tracking8Loco-Manipulation2Whole-Body Control
8 papers
Locomotion
Terrain, gait, robustness, and agile movement.
project clip
02arXiv
Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand
Teaches a robotic hand to crawl, steer, recover from falls, type keys, and push objects using its fingers as legs.
project clip
03arXiv
Learning Safe Humanoid Navigation from Reduced Order Models
Teaches humanoids to choose safe paths through buildings and stairs while keeping their balance.
paper preview
04arXiv
Smoothness as a Constraint for Stable Humanoid Locomotion
Keeps humanoid walking stable by setting separate smoothness limits for the upper and lower body.
paper preview
05arXiv
Learning Expressive Humanoid Locomotion from Monocular Runway Videos for Robot Fashion Shows
Turns ordinary runway videos into stable catwalk motions a humanoid can perform on real hardware.
paper preview
06arXiv
Humanoid Locomotion with a Fly-Inspired Recurrent Controller
Controls a humanoid across speeds and terrain with a compact recurrent controller inspired by fly nervous systems.
paper preview
07arXiv
DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
Makes legged-robot motion planning faster and more reliable by relaxing difficult dynamics constraints during optimization.
paper preview
08arXiv
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Helps humanoids recall terrain from recent depth views by looking where each foot is about to land.
2 papers
Motion Tracking
Reference motion, imitation, retargeting, and behavior priors.
project clip
09arXiv
BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video
Turns a single ordinary video directly into executable motion for several kinds of humanoid robots.
paper preview
10arXiv
Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training
Creates humanoid motions from text by testing several candidates in simulation and keeping the one the robot can execute.
8 papers
Loco-Manipulation
Whole-body task contact: feet, torso, hands, and objects.
paper preview
11arXiv
Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions
Teaches humanoids to approach, grasp, and move objects with their whole body and dexterous hands from human demonstrations.
paper preview
12arXiv
KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation
Lets a vision-language model plan humanoid tasks as key poses that a whole-body controller can execute.
project clip
13arXiv
WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination
Adapts pretrained world-action models to humanoids by grounding their plans in whole-body control.
paper preview
14arXiv
Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator
Teaches a bipedal mobile manipulator to move its base and arm together toward a hand target.
paper preview
15arXiv
Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation
Keeps a teleoperated humanoid's hands aligned with its body while it performs whole-body motions.
paper preview
16arXiv
Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation
Lets legged robots choose when and where to brace against the environment based on balance, reach, and effort.
paper preview
17arXiv
STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robots
Lets humanoids step precisely, switch walking styles, and coordinate whole-body movement for 3D manipulation.
paper preview
18arXiv
Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation
Transfers handheld manipulation demonstrations to humanoids by generating coordinated whole-body motion in real time.
2 papers
Whole-Body Control
MPC, impedance, safety layers, and whole-body coordination.
paper preview
19arXiv
X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control
Trains one shared motion model across several humanoid bodies while keeping execution tailored to each robot.
paper preview
20arXiv
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
Teaches agile humanoids to stay inside learned safety limits while dodging and moving under obstacles.