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01arXiv
Advances, challenges, and opportunities for legged robots
Maps where legged robots are headed, from stronger hardware and robot learning to more useful walking in real-world jobs.
Paper Sweeps
Humanoid Papers from August 2 to August 8, 2026
5Locomotion6Motion Tracking3Loco-Manipulation3Whole-Body Control1State Estimation / Perception
5 papers
Locomotion
Terrain, gait, robustness, and agile movement.
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02arXiv
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Teaches a humanoid to walk, climb, cross sparse footholds, and vault over obstacles with one depth-based policy.
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03arXiv
Open-DiffLoco: Open-Source Differentiable Learning for Deployable Blind Quadruped Locomotion
Trains deployable Go2 walking policies quickly in a differentiable simulator using only body sensors at runtime.
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04arXiv
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Lets a quadruped adapt its walking within a fraction of a second when joints lock or payloads change.
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05arXiv
First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance
Teaches a G1 to hold single-leg balance by tracking how its support point and center of mass should line up.
6 papers
Motion Tracking
Reference motion, imitation, retargeting, and behavior priors.
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06arXiv
StableMimic: Smooth Human-Like Recovery for Humanoid Motion Tracking - Learning Beyond the Tracking Distribution for Structured Post-Fall Behavior
Teaches a G1 humanoid to recover from falls and return to motion tracking without switching controllers by hand.
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07arXiv
GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking
Generates humanoid motions, tests whether a G1 can track them, and uses failures to make future motions more robot-ready.
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08arXiv
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
Trains a G1 whole-body motion tracker much faster by routing different parts of the behavior through expert modules.
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09arXiv
Learning Context-Aware Motion Priors for Humanoid Control
Chooses useful reference motions for each task so humanoids learn new behaviors without hand-sorting the motion set.
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10arXiv
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
Turns kinematic motion clips into contact-aware G1 motions that are easier to train and transfer to hardware.
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11arXiv
PFM-HR: Pose Flow Matching for Humanoid Robots
Builds a reusable pose prior so humanoids learn motion tracking from unordered poses with better contact and balance.
3 papers
Loco-Manipulation
Whole-body task contact: feet, torso, hands, and objects.
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12arXiv
Developing Combined Manipulation and Locomotion Skills with Interaction Representation and Skill Composition
Combines walking and grasping policies so a humanoid can move toward objects and manipulate them with its whole body.
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13arXiv
RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation
Turns generated first-person task videos into humanoid keyframe skills, then executes them on a G1 with whole-body control.
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14arXiv
ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
Maps language, camera views, and body sensors into short whole-body action chunks for a G1 doing household loco-manipulation.
3 papers
Whole-Body Control
MPC, impedance, safety layers, and whole-body coordination.
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15arXiv
Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control
Helps a humanoid lift and hold objects by planning how the carried mass changes its balance.
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16arXiv
Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination
Lets a humanoid copy upper-body motion in fast or dim scenes using low-latency event-camera tracking.
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17arXiv
Teleopit: A Full-Embodiment Humanoid Teleoperation System
Lets a person control a humanoid body, hands, and head through VR so the demonstrations can train autonomous skills.
1 paper
State Estimation / Perception
Terrain, state, slip, sensors, and local context.
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18arXiv
Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
Improves legged robot body-state estimates by learning when to trust or loosen the Kalman filter while walking.