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01arXiv
X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies
Transfers human motion priors into robot policies across different bodies, from humanoids to quadrupeds and arms.
Paper Sweeps
Humanoid Papers from June 28 to July 4, 2026
1Locomotion3Motion Tracking3Loco-Manipulation3Whole-Body Control1Training Infrastructure
1 paper
Locomotion
Terrain, gait, robustness, and agile movement.
3 papers
Motion Tracking
Reference motion, imitation, retargeting, and behavior priors.
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02arXiv
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
Plans humanoid whole-body motion in closed loop by repeatedly replanning from a behavior foundation model.
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03X
SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
Tracks whole-body humanoid motion while using contact prompts for terrain and object interaction.
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04arXiv
GPC: Large-Scale Generative Pretraining for Transferable Motor Control
Pretrains reusable motor-control tokens from large motion datasets so controllers can transfer to new skills.
3 papers
Loco-Manipulation
Whole-body task contact: feet, torso, hands, and objects.
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05arXiv
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Teaches humanoids to practice loco-manipulation in reconstructed 3D scenes using synthetic vision-language-kinematics data.
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06X
CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
Combines upper-body imitation with lower-body locomotion so humanoids can move and manipulate together.
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07arXiv
HEFT
Teleoperates a full-size humanoid carrying heavy payloads using noisy VR tracking and learned whole-body control.
3 papers
Whole-Body Control
MPC, impedance, safety layers, and whole-body coordination.
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08arXiv
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
Lets a humanoid follow arbitrary sparse body keypoints by turning them into full-body control.
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09arXiv
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Builds a wheel-legged quadruped with two arms for agile movement and payload handling.
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10arXiv
Multi-Rate NMPC for Wall-Supported Bipedal Locomotion
Coordinates wall contacts and bipedal stepping so a quadruped can move through tight spaces on two legs.
1 paper
Training Infrastructure
Benchmarks, datasets, rewards, simulators, and tooling.
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11arXiv
Actuator Reality Shaping
Makes real robot actuators behave more like the ideal motors used in simulation to improve sim-to-real transfer.