diff --git a/_data/papers.json b/_data/papers.json index 26d0980..081062c 100644 --- a/_data/papers.json +++ b/_data/papers.json @@ -1918,6 +1918,18 @@ "zhname": "CHILD：全身人形遥操作系统", "zh_title": "CHILD：全身人形遥操作系统" }, + { + "title": "CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks", + "path": "papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md", + "url": "/papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.html", + "dir": "CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks", + "arxiv": "2506.08931", + "has_open_source": true, + "published_date_zh": "2025年6月10日（arXiv）", + "published_date_en": "Jun 10, 2025 (arXiv)", + "zhname": "CLONE：面向长时序任务的闭环全身人形遥操作", + "zh_title": "CLONE：面向长时序任务的闭环全身人形遥操作" + }, { "title": "Heavy lifting tasks via haptic teleoperation of a wheeled humanoid", "path": "papers/07_Teleoperation/Heavy_Lifting_Tasks_via_Haptic_Teleoperation_of_a_Wheeled_Humanoid/Heavy_Lifting_Tasks_via_Haptic_Teleoperation_of_a_Wheeled_Humanoid.md", diff --git a/papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md b/papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md new file mode 100644 index 0000000..0a9e12e --- /dev/null +++ b/papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md @@ -0,0 +1,191 @@ +--- +layout: paper +paper_order: 12 +title: "CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks" +zhname: "CLONE：面向长时序任务的闭环全身人形遥操作" +category: "Teleoperation" +--- + +# CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks +**只用 MR 头显的头 + 双手三点信号，靠 MoE 策略做全身协调、靠 LiDAR 闭环校正抑制漂移，实现分钟级长时序全身遥操作** + +> 📅 阅读日期: 2026-07-02 +> +> 🏷️ 板块: Teleoperation · 全身控制 · MoE · 闭环校正 +> +> 🔁 推进轨: 模块轮转（06_Manipulation → **07_Teleoperation**） + +--- + +## 📋 基本信息 + +| 项目 | 链接 | +|---|---| +| arXiv | [2506.08931](https://arxiv.org/abs/2506.08931) | +| HTML | [在线阅读](https://arxiv.org/html/2506.08931v1) | +| PDF | [下载](https://arxiv.org/pdf/2506.08931) | +| **发布时间** | 2025-06-10 (arXiv) | +| 项目主页 | [humanoid-clone.github.io](https://humanoid-clone.github.io/) | +| 源码 | [humanoid-clone/CLONE](https://github.com/humanoid-clone/CLONE) | + +**机构**：北京通用人工智能研究院（BIGAI）· 北京大学 · 北京理工大学 + +**作者**：Yixuan Li, Yutang Lin, Jieming Cui, Tengyu Liu, Wei Liang, Yixin Zhu, Siyuan Huang + +**机器人**：Unitree G1 · 输入仅为 MR 头显（Apple Vision Pro / VisionProTeleop）的头部 + 双手位姿 + +--- + +## 🎯 一句话总结 + +CLONE 抓住当前人形遥操作的两个通病——**上下半身解耦**（为了稳但牺牲了自然协调）和**开环无位置反馈**（累积漂移，走远就飘）——提出一个 **MoE（专家混合）全身策略 + LiDAR 闭环误差校正** 的系统：操作者只戴一个 MR 头显、只提供**头和两只手三个点**的追踪信号，机器人就能做出协调的全身动作，并在长距离、长时序轨迹上把**全局位置漂移压到极低**。 + +--- + +## 📌 英文缩写速查 + +| 缩写 | 全称 | 解释 | +|---|---|---| +| MoE | Mixture-of-Experts | 专家混合，用门控网络组合多个子策略 | +| MR | Mixed Reality | 混合现实头显（这里作动捕输入） | +| WBC | Whole-Body Control | 全身控制 | +| IK | Inverse Kinematics | 逆运动学（从三点还原全身姿态） | +| LiDAR Odometry | - | 激光雷达里程计，估计机器人全局位姿 | + +--- + +## ❓ 论文要解决什么问题？ + +人形遥操作是采集"人-场景交互"数据、演示复杂任务的关键手段，但现有系统有两条硬伤： + +1. **上下半身解耦**：为了不摔倒，很多系统把上肢跟踪和下肢平衡分开控制，导致全身动作不协调、无法做需要腰腿配合的动作。 +2. **开环、无实时位置反馈**：策略只跟踪局部姿态，不闭合机器人**全局位置**，误差随时间累积，机器人在长距离行走后会明显"飘走"。 + +核心挑战因此归结为一句话：**如何在长时间尺度上，既保持全身协调，又保持精确的全局定位。** + +CLONE 的答案：用 **MoE 把多种全身运动技能协调成一个策略**（解决协调），再用 **LiDAR 里程计做闭环误差校正**（解决漂移），且输入极简——只需 MR 头显的三点信号。 + +--- + +## 🔧 方法拆解 + +### 1. 极简输入 → 全身参考 +- 操作者只戴 MR 头显，系统读取**头 + 左右手**三个 6D 位姿。 +- 通过 IK / 重定向把这三点扩展成机器人可执行的**全身参考姿态**，无需全身动捕套装。 + +### 2. MoE 全身策略（解决"协调"） +- 用**专家混合**结构学习并组合多种运动技能（行走、转身、蹲伸、上肢操作等）。 +- 门控网络按当前状态与目标动态加权各专家，产出**统一的全身动作**，避免上下半身割裂。 + +### 3. 闭环误差校正（解决"漂移"） +- 机器人携带 LiDAR，用 **LiDAR 里程计（FAST-LIO 类）** 实时估计**全局位姿**。 +- 把"当前全局位姿 vs 期望轨迹"的误差**闭环反馈**进策略，持续纠偏，使长距离轨迹漂移最小化。 + +### 4. 训练与部署 +- 仿真中大规模 RL 训练 MoE 策略，再 sim-to-real 迁移到 **Unitree G1**。 +- 部署时 MR 头显做输入、LiDAR 做全局定位，形成完整的"感知—策略—执行—校正"闭环。 + +--- + +## 🧭 整体流程（mermaid） + +
+flowchart TB + subgraph OP["🧑 操作者侧 (MR 头显)"] + HEAD["🥽 头部位姿"] + HANDS["✋ 双手位姿"] + IK["🔧 IK / 重定向
三点 → 全身参考"] + end + + subgraph POLICY["🧠 CLONE MoE 策略"] + GATE["🚦 门控网络"] + E1["专家1: 行走"] + E2["专家2: 上肢操作"] + E3["专家3: 蹲伸/转身"] + ACT["🎯 全身动作 (PD 目标)"] + end + + subgraph ROBOT["🤖 Unitree G1"] + PD["🦾 全身 PD 执行"] + PROP["📡 本体感知"] + end + + subgraph LOOP["🔁 LiDAR 闭环校正"] + LIDAR["📡 LiDAR 里程计"] + GPOSE["📍 全局位姿估计"] + ERR["📏 全局误差 → 反馈"] + end + + HEAD --> IK + HANDS --> IK + IK --> GATE + GATE --> E1 & E2 & E3 + E1 & E2 & E3 --> ACT + PROP --> GATE + ERR --> GATE + ACT --> PD + PD --> PROP + PD --> LIDAR + LIDAR --> GPOSE + GPOSE --> ERR + + style OP fill:#fff7e0,stroke:#d4a017 + style POLICY fill:#f3e8ff,stroke:#8e44ad + style ROBOT fill:#e8f8e8,stroke:#27ae60 + style LOOP fill:#fde8e8,stroke:#c0392b +
+ +--- + +## 💡 核心贡献 + +1. **闭环全身遥操作系统**：首次把 MoE 全身协调与 LiDAR 全局位姿闭环校正结合，同时解决"协调"与"漂移"两大痛点。 +2. **极简输入**：仅用 MR 头显的头 + 双手三点信号驱动全身，硬件门槛低、佩戴轻便。 +3. **长时序高保真**：在长距离轨迹上维持极低的位置漂移，把遥操作从"短演示"推向"长时序任务执行"。 +4. **真机验证 + 开源**：在 Unitree G1 上完成 sim-to-real 部署，代码与项目主页公开。 + +--- + +## 📊 关键发现 + +| 维度 | 结论 | +|---|---| +| 全局漂移 | 闭环 LiDAR 校正下，长距离轨迹位置漂移显著低于开环基线 | +| 全身协调 | MoE 相比解耦控制能做出更自然、需要腰腿配合的全身动作 | +| 输入成本 | 仅三点（头 + 双手）即可驱动全身，无需全身动捕 | +| Sim-to-Real | Unitree G1 真机部署可用 | + +> ⚠️ 上表为结构性总结，具体数值请以论文正式版与仓库 README 为准。 + +--- + +## 🤖 对人形机器人领域的意义 + +| 方向 | 含义 | +|---|---| +| **闭环全局观测范式** | 把"全局位姿 + 里程计校正"作为遥操作标配，而非可选项 | +| **MoE 做全身协调** | 用专家混合统一多技能，缓解上下半身解耦带来的僵硬 | +| **低门槛数据采集** | 三点输入 + 消费级 MR 头显，利于规模化收集人-场景交互数据 | + +--- + +## 🎤 面试参考 + +**Q：CLONE 与 CLOT 都强调"闭环"，区别在哪？** +A：两者都针对"全局漂移"。CLOT 侧重在底层运动跟踪里闭环全局位姿、并用解耦随机化稳住训练；CLONE 更偏**系统层**——用 MoE 做全身技能协调，用 LiDAR 里程计做全局闭环校正，且强调**极简三点输入**和长时序任务执行。 + +**Q：为什么上下半身解耦不好，MoE 怎么解决？** +A：解耦控制虽稳，但无法做需要全身配合的动作（如弯腰取物同时保持平衡）。MoE 用门控网络在同一策略里动态组合行走、上肢操作、蹲伸等专家，输出统一的全身动作，从而恢复协调性。 + +**Q：为什么要用 LiDAR 而不是仅靠本体感知闭环？** +A：本体感知只能估计相对/局部状态，长距离会累积漂移；LiDAR 里程计提供**绝对全局位姿**，把全局误差反馈进策略才能真正抑制"越走越飘"。 + +--- + +## 🔗 相关阅读 + +- [CLOT (2602.15060)](https://arxiv.org/abs/2602.15060)：底层运动跟踪层的全局位姿闭环 +- [OmniH2O (2406.08858)](https://arxiv.org/abs/2406.08858)：H2H 通用全身遥操作 +- [H2O (2403.04436)](https://arxiv.org/abs/2403.04436)：Human-to-Humanoid 实时全身遥操作开山 +- [HumanPlus (2406.10454)](https://arxiv.org/abs/2406.10454)：影子跟随（shadowing）路线 +- [Open-TeleVision (2407.01512)](https://arxiv.org/abs/2407.01512)：沉浸式主动视觉反馈遥操作 diff --git a/papers/PROGRESS.md b/papers/PROGRESS.md index 6a85563..824b8eb 100644 --- a/papers/PROGRESS.md +++ b/papers/PROGRESS.md @@ -443,7 +443,7 @@ | 337 | [Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation](https://arxiv.org/abs/2508.09846) | 2025.08 | | ⏳ 待读 | | 338 | [CHILD: a Whole-Body Humanoid Teleoperation System](https://arxiv.org/abs/2508.00162) | 2025.08 | | ⏳ 待读 | | 339 | CHILD: Controller for Humanoid Imitation and Live Demonstration a Whole-Body Humanoid Teleoperation System | 2025.08 | | ⏳ 待读 | -| 340 | [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://arxiv.org/abs/2506.08931) | 2025.06 | | ⏳ 待读 | +| 340 | [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://arxiv.org/abs/2506.08931) ✅ [笔记](07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md) | 2026-07-02 | | ✅ 已总结 | | 341 | [Heavy lifting tasks via haptic teleoperation of a wheeled humanoid](https://arxiv.org/abs/2505.19530) | 2025.05 | | ⏳ 待读 | | 342 | [TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation](https://arxiv.org/abs/2505.12748) | 2025.05 | | ⏳ 待读 | | 343 | [Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots](https://arxiv.org/abs/2505.05773) | 2025.05 | | ⏳ 待读 | diff --git a/progress.json b/progress.json index 418a1e0..ac3044a 100644 --- a/progress.json +++ b/progress.json @@ -1,5173 +1,5185 @@ { - "current_paper_index": 6, - "confirmed": false, - "section": "基础路线图", - "daily_summary": { - "description": "Claude / Cursor 每日论文总结任务。当前并行两条推进轨：(A) 高影响力精选「五类」轮转（全身控制核心 → 遥操作与模仿学习 → Locomotion 经典 → Sim-to-Real & Foundation Model → 仿真平台与工具 → 回到全身控制核心），覆盖 papers/03_High_Impact_Selection/ 全部 5 个子类；(B) 模块轮转（04 → 05 → ... → 14 → 04）。两条轨各自独立挑选，已有完整笔记的论文自动跳过。", - "high_impact_cycle": { - "categories": [ - "全身控制核心", - "遥操作与模仿学习", - "Locomotion 经典", - "Sim-to-Real & Foundation Model", - "仿真平台与工具" - ], - "categories_history": { - "before_2026-05-22": [ - "全身控制核心", - "遥操作与模仿学习", - "仿真平台与工具" + "current_paper_index": 6, + "confirmed": false, + "section": "基础路线图", + "daily_summary": { + "description": "Claude / Cursor 每日论文总结任务。当前并行两条推进轨：(A) 高影响力精选「五类」轮转（全身控制核心 → 遥操作与模仿学习 → Locomotion 经典 → Sim-to-Real & Foundation Model → 仿真平台与工具 → 回到全身控制核心），覆盖 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"papers/05_Locomotion/Walk_the_PLANC__Physics-Guided_RL_for_Agile_Humanoid_Locomotion_on_Constrained_Footholds", + "module": "05_Locomotion", + "arxiv": "2601.06286", + "source": "匿名仓库 anonymous.4open.science/r/robot_rl-E4FF（待正式开源）· 项目页 caltech-amber.github.io/planc · Unitree G1 21-DoF 真机 · 模块轮转（04_Loco-Manipulation_and_WBC → 05_Locomotion）" + }, + { + "date": "2026-06-29", + "index": 64, + "title": "PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations", + "folder": "papers/04_Loco-Manipulation_and_WBC/PvP__Data-Efficient_Humanoid_Robot_Learning_with_Proprioceptive-Privileged_Contrastive", + "module": "04_Loco-Manipulation_and_WBC", + "arxiv": "2512.13093", + "source": "宣称开源 SRL4Humanoid（未见公开仓库链接）· LimX Oli 31-DoF 真机 · 模块轮转（14_Human_Motion → 04_Loco-Manipulation_and_WBC）" + }, + { + "date": "2026-06-28", + "index": 485, + "title": "GENMO: A Generalist Model for Human Motion", + "folder": "papers/14_Human_Motion/GENMO__A_Generalist_Model_for_Human_Motion", + "module": "14_Human_Motion", + "arxiv": "2505.01425", + "source": "未见公开训练代码 · 项目页 research.nvidia.com/labs/dair/genmo · NVIDIA DAIR · 模块轮转（13_Physics-Based_Animation → 14_Human_Motion）" + }, + { + "date": "2026-06-27", + "index": "—", + "title": "InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions", + "folder": "papers/13_Physics-Based_Animation/InterPrior__Scaling_Generative_Control_for_Physics-Based_Human-Object_Inter", + "module": "13_Physics-Based_Animation", + "arxiv": "2602.06035", + "source": "未见官方代码 · 项目页 sirui-xu.github.io/InterPrior · UIUC + Amazon · 模块轮转（12_Hardware_Design → 13_Physics-Based_Animation）" + }, + { + "date": "2026-06-26", + "index": "—", + "title": "DecARt Leg: Novel Humanoid Robot Leg with Decoupled Actuation", + "folder": "papers/12_Hardware_Design/DecARt_Leg_Novel_Humanoid_Robot_Leg_with_Decoupled_Actuation", + "module": "12_Hardware_Design", + "arxiv": "2511.10021", + "source": "未见官方代码 · FAST 敏捷度评测 · MIPT · 模块轮转（11_Simulation_Benchmark → 12_Hardware_Design）" + }, + { + "date": "2026-06-25", + "index": 374, + "title": "The Invariant Extended Kalman Filter as a Stable Observer", + "folder": "papers/09_State_Estimation/The_Invariant_Extended_Kalman_Filter_as_a_Stable_Observer", + "module": "09_State_Estimation", + "arxiv": "1410.1465", + "source": "理论论文无配套代码 · 工程实现参考 RossHartley/invariant-ekf · IEEE TAC 2017" + }, + { + "date": "2026-06-24", + "index": 356, + "title": "INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM", + "folder": "papers/08_Navigation/INTENTION__Inferring_Tendencies_of_Humanoid_Robot_Motion_Through_Interactive_Int", + "module": "08_Navigation", + "arxiv": "2508.04931", + "source": "未见公开仓库/项目页 · IIT (Tsagarakis 团队) · IEEE Humanoids" + }, + { + "date": "2026-06-23", + "index": 336, + "title": "LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy", + "folder": "papers/07_Teleoperation/LapSurgie__Humanoid_Robots_Performing_Surgery_via_Teleoperated_Handheld_Laparoscopy", + "module": "07_Teleoperation", + "arxiv": "2510.03529", + "source": "未见公开仓库 · UCSD ARCLAB 项目页" + }, + { + "date": "2026-06-22", + "index": 279, + "title": "SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot", + "folder": "papers/06_Manipulation/SafeHumanoid__VLM-RAG-driven_Control_of_Upper_Body_Impedance", + "module": "06_Manipulation", + "arxiv": "2511.23300", + "source": "论文未公开代码/项目页（Skoltech ISR Lab）" + }, + { + "date": "2026-06-21", + "index": 196, + "title": "FastStair: Learning to Run Up Stairs with Humanoid Robots", + "folder": "papers/05_Locomotion/FastStair__Learning_to_Run_Up_Stairs_with_Humanoid_Robots", + "module": "05_Locomotion", + "arxiv": "2601.10365", + "source": "npcliu.github.io/FastStair · youtu.be/SoLBK7VEGDo" + }, + { + "date": "2026-06-20", + "index": 482, + "title": "Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction", + "folder": "papers/14_Human_Motion/Efficient_and_Scalable_Monocular_Human-Object_Interaction_Motion_Reconstruction", + "module": "14_Human_Motion", + "arxiv": "2512.00960", + "source": "wenboran2002/open4dhoi_code · wenboran2002.github.io/open4dhoi" + }, + { + "date": "2026-06-19", + "index": 550, + "title": "OMG: Omni-Modal Motion Generation for Generalist Humanoid Control", + "folder": "papers/13_Physics-Based_Animation/OMG__Omni-Modal_Motion_Generation_for_Generalist_Humanoid_Control", + "module": "13_Physics-Based_Animation", + "arxiv": "2606.10340", + "source": "Tsinghua-MARS-Lab/OMG · tsinghua-mars-lab.github.io/OMG" + }, + { + "date": "2026-06-18", + "index": 549, + "title": "DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity", + "folder": "papers/12_Hardware_Design/DexLink_Hand__Compact_Affordable_16-DOF_Linkage-Driven_Hand", + "module": "12_Hardware_Design", + "arxiv": "2606.17418", + "source": "论文未公开代码/CAD/项目页（机构正用于商业化灵巧手平台）" + }, + { + "date": "2026-06-17", + "index": 548, + "title": "Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids", + "folder": "papers/10_Sim-to-Real/Robot_Trains_Robot_Automatic_Real-World_Policy_Adaptation_and_Learning", + "module": "10_Sim-to-Real", + "arxiv": "2508.12252", + "source": "hukz18/Robot-Trains-Robot · robot-trains-robot.github.io" + }, + { + "date": "2026-06-17", + "index": 547, + "title": "Four Simple Proprioceptive Estimators for Legged Robots", + "folder": "papers/09_State_Estimation/Four_Simple_Proprioceptive_Estimators_for_Legged_Robots", + "module": "09_State_Estimation", + "arxiv": "2605.23100", + "source": "borglab/gtsam (LeggedEstimatorReplayExample.cpp) · ChiyunNoh/GTSAM-Legged-Estimator-ROS2" + }, + { + "date": "2026-06-17", + "index": 546, + "title": "X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation", + "folder": "papers/12_Hardware_Design/X2-N__Transformable_Wheel-legged_Humanoid_Robot_with_Dual-mode_Locomotion_and_Manipulation", + "module": "12_Hardware_Design", + "arxiv": "2604.21541", + "source": "论文未公开代码/项目页" + }, + { + "date": "2026-06-17", + "index": 545, + "title": "Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation", + "folder": "papers/11_Simulation_Benchmark/Humanoid_Everyday__Comprehensive_Robotic_Dataset_for_Open-World_Humanoid_Manipulation", + "module": "11_Simulation_Benchmark", + "arxiv": "2510.08807", + "source": "physical-superintelligence-lab/Humanoid-Everyday · HF USC-GVL/humanoid-everyday" + }, + { + "date": "2026-06-17", + "index": 544, + "title": "Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection", + "folder": "papers/10_Sim-to-Real/Sim-to-Real_Humanoid_Locomotion_via_Joint_Torque_Space_Perturbation_Injection", + "module": "10_Sim-to-Real", + "arxiv": "2504.06585", + "source": "论文未公开代码" + }, + { 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链接）；IEEE Xplore document/11204000；arXiv 2510.04353" + }, + { + "date": "2026-06-15", + "index": 277, + "title": "Genie Sim 3.0: A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot", + "folder": "papers/06_Manipulation/Genie_Sim_3.0__A_High-Fidelity_Comprehensive_Simulation_Platform_for_Humanoid_Robot", + "module": "06_Manipulation", + "source": "https://github.com/AgibotTech/genie_sim" + }, + { + "date": "2026-06-15", + "index": 194, + "title": "CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains", + "folder": "papers/05_Locomotion/CMR__Contractive_Mapping_Embeddings_for_Robust_Humanoid_Locomotion", + "module": "05_Locomotion", + "source": "截至当前未见公开仓库（论文未给出 GitHub 链接）" + }, + { + "date": "2026-06-14", + "index": 534, + "title": "SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation", + "folder": "papers/04_Loco-Manipulation_and_WBC/SplitAdapter__Load-Aware_Humanoid_Loco-Manipulation_via_Factorized_Adaptation", + "module": "04_Loco-Manipulation_and_WBC", + "source": "暂未释出（项目页 splitadapter.github.io 留有 Code 占位入口）" + }, + { + "date": "2026-06-12", + "index": 541, + "title": "Physics-Based Motion Tracking of Contact-Rich Interacting Characters", + "folder": "papers/13_Physics-Based_Animation/Physics-Based_Motion_Tracking_of_Contact-Rich_Interacting_Characters", + "module": "13_Physics-Based_Animation", + "source": "截至当前未见公开仓库（论文/项目页未给出 GitHub 链接）" + }, + { + "date": "2026-06-17", + "index": 355, + "title": "LookOut: Real-World Humanoid Egocentric Navigation", + "folder": "papers/08_Navigation/LookOut__Real-World_Humanoid_Egocentric_Navigation", + "module": "08_Navigation", + "source": "https://sites.google.com/stanford.edu/lookout" + }, + { + "date": "2026-06-16", + "index": 334, + "title": "Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots", + "folder": "papers/07_Teleoperation/Intuitive_GUI_for_Non-Expert_Teleoperation_of_Humanoid_Robots", + "module": "07_Teleoperation", + "source": "截至当前未见公开仓库（论文未给出 GitHub 链接）" + }, + { + "date": "2026-06-15", + "index": 276, + "title": "DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation", + "folder": "papers/06_Manipulation/DexterCap__An_Affordable_and_Automated_System_for_Capturing_Dexterous_Hand-Object" + }, + { + "date": "2026-06-14", + "index": 193, + "title": "HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation", + "folder": "papers/05_Locomotion/HoRD__Robust_Humanoid_Control_via_History-Conditioned_RL_and_Online_Distillation" + }, + { + "date": "2026-06-13", + "index": 54, + "title": "Collision-Free Humanoid Traversal in Cluttered Indoor Scenes", + "folder": "papers/04_Loco-Manipulation_and_WBC/Collision-Free_Humanoid_Traversal_in_Cluttered_Indoor_Scenes" + }, + { + "date": "2026-06-12", + "index": 480, + "title": "Control Operators for Interactive Character Animation", + "folder": "papers/14_Human_Motion/Control_Operators_for_Interactive_Character_Animation" + }, + { + "date": "2026-06-11", + "index": 452, + "title": "Learning to Ball: Composing Policies for Long-Horizon Basketball Moves", + "folder": "papers/13_Physics-Based_Animation/Learning_to_Ball__Composing_Policies_for_Long-Horizon_Basketball_Moves" + }, + { + "date": "2026-06-09", + "index": 393, + "title": "Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report", + "folder": "papers/11_Simulation_Benchmark/Generative_World_Modelling_for_Humanoids__1X_World_Model_Challenge_Technical_Report" + }, + { + "date": "2026-06-08", + "index": 383, + "title": "Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots (PACE)", + "folder": "papers/10_Sim-to-Real/PACE_Systematic_Sim-to-Real_Transfer_for_Diverse_Legged_Robots" + }, + { + "date": "2026-06-07", + "index": 373, + "title": "Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors", + "folder": "papers/09_State_Estimation/Legged_Robot_State-Estimation_via_Forward_Kinematic_and_Preintegrated_Contact_Factors" + }, + { + "date": "2026-06-06", + "index": 354, + "title": "Quantum deep reinforcement learning for humanoid robot navigation task", + "folder": "papers/08_Navigation/Quantum_Deep_RL_for_Humanoid_Robot_Navigation" + }, + { + "date": "2026-06-05", + "index": 333, + "title": "Learning Adaptive Neural Teleoperation for Humanoid Robots: From Inverse Kinematics to End-to-End Control", + "folder": "papers/07_Teleoperation/Learning_Adaptive_Neural_Teleoperation_for_Humanoid_Robots" + }, + { + "date": "2026-06-04", + "index": 275, + "title": "Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation", + "folder": "papers/06_Manipulation/RGMP-S__Generalizable_Geometric_Prior_and_Recurrent_Spiking_Feature_Learning_for_Humanoid_Manipulation" + }, + { + "date": "2026-04-24", + "index": 14, + "title": "LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data", + "folder": "papers/04_Loco-Manipulation_and_WBC/LATENT__Learning_Athletic_Humanoid_Tennis_Skills_from_Imperfect_Human_Motion_Dat" + }, + { + "date": "2026-04-25", + "index": 15, + "title": "Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation", + "folder": "papers/04_Loco-Manipulation_and_WBC/Ψ₀__An_Open_Foundation_Model_Towards_Universal_Humanoid_Loco-Manipulation" + }, + { + "date": "2026-04-25", + "index": 16, + "title": "SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual RL", + "folder": "papers/04_Loco-Manipulation_and_WBC/SteadyTray__Learning_Object_Balancing_Tasks_in_Humanoid_Tray_Transport_via_Resid" + }, + { + "date": "2026-04-26", + "index": 17, + "title": "ZeroWBC: Learning Natural Visuomotor Humanoid Control from Egocentric Video", + "folder": "papers/04_Loco-Manipulation_and_WBC/ZeroWBC__Learning_Natural_Visuomotor_Humanoid_Control_from_Egocentric_Video" + }, + { + "date": "2026-04-28", + "index": 18, + "title": "Embedding Classical Balance Control Principles in RL for Humanoid Recovery", + "folder": "papers/04_Loco-Manipulation_and_WBC/Embedding_Classical_Balance_Control_Principles_in_RL_for_Humanoid_Recovery" + }, + { + "date": "2026-04-29", + "index": 25, + "title": "MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction", + "folder": "papers/04_Loco-Manipulation_and_WBC/MeshMimic__Geometry-Aware_Humanoid_Motion_Learning_through_3D_Scene_Reconstructi" + }, + { + "date": "2026-04-29", + "index": 26, + "title": "General Humanoid Whole-Body Control via Pretraining and Fast Adaptation", + "folder": "papers/04_Loco-Manipulation_and_WBC/General_Humanoid_Whole-Body_Control_via_Pretraining_and_Fast_Adaptation" + }, + { + "date": "2026-04-29", + "index": 27, + "title": "HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model", + "folder": "papers/04_Loco-Manipulation_and_WBC/HAIC__Humanoid_Agile_Object_Interaction_Control_via_Dynamics-Aware_World_Model" + }, + { + "date": "2026-05-01", + "index": 29, + "title": "MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation", + "folder": "papers/04_Loco-Manipulation_and_WBC/MOSAIC__Bridging_the_Sim-to-Real_Gap_in_Generalist_Humanoid_Motion_Tracking_and_" + }, + { + "date": "2026-05-02", + "index": 30, + "title": "Learning Human-Like Badminton Skills for Humanoid Robots", + "folder": "papers/04_Loco-Manipulation_and_WBC/Learning_Human-Like_Badminton_Skills_for_Humanoid_Robots" + }, + { + "date": "2026-05-03", + "index": 31, + "title": "TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control", + "folder": "papers/04_Loco-Manipulation_and_WBC/TextOp__Real-time_Interactive_Text-Driven_Humanoid_Robot_Motion_Generation_and_C" + }, + { + "date": "2026-05-04", + "index": 32, + "title": "Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations", + "folder": "papers/04_Loco-Manipulation_and_WBC/Humanoid_Manipulation_Interface__Humanoid_Whole-Body_Manipulation_from_Robot-Fre" + }, + { + "date": "2026-05-05", + "index": 34, + "title": "Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework", + "folder": "papers/04_Loco-Manipulation_and_WBC/Learning_Soccer_Skills_for_Humanoid_Robots____A_Progressive_Perception-Action_Fr" + }, + { + "date": "2026-05-06", + "index": 35, + "title": "PDF-HR: Pose Distance Fields for Humanoid Robots", + "folder": "papers/04_Loco-Manipulation_and_WBC/PDF-HR__Pose_Distance_Fields_for_Humanoid_Robots" + }, + { + "date": "2026-05-07", + "index": 36, + "title": "HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control", + "folder": "papers/04_Loco-Manipulation_and_WBC/HUSKY__Humanoid_Skateboarding_System_via_Physics-Aware_Whole-Body_Control" + }, + { + "date": "2026-05-08", + "index": 37, + "title": "Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control", + "folder": "papers/04_Loco-Manipulation_and_WBC/Embodiment-Aware_Generalist_Specialist_Distillation_for_Unified_Humanoid_Whole-B" + }, + { + "date": "2026-05-09", + "index": 38, + "title": "HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos", + "folder": "papers/04_Loco-Manipulation_and_WBC/HumanX__Toward_Agile_and_Generalizable_Humanoid_Interaction_Skills_from_Human_Vi" + }, + { + "date": "2026-05-13", + "index": 39, + "title": "TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour", + "folder": "papers/04_Loco-Manipulation_and_WBC/TTT-Parkour__Rapid_Test-Time_Training_for_Perceptive_Robot_Parkour" + }, + { + "date": "2026-05-14", + "index": "H2", + "title": "HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots", + "folder": "papers/03_High_Impact_Selection/HOVER_Versatile_Neural_Whole-Body_Controller", + "category": "高影响力精选 / 全身控制核心", + "track": "high_impact_cycle" + }, + { + "date": "2026-05-14", + "index": 40, + "title": "ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control", + "folder": "papers/04_Loco-Manipulation_and_WBC/ZEST__Zero-shot_Embodied_Skill_Transfer_for_Athletic_Robot_Control", + "module": "04_Loco-Manipulation_and_WBC", + "track": "module_rotation" + }, + { + "date": "2026-05-15", + "index": "H9", + "title": "HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit", + "folder": "papers/03_High_Impact_Selection/HOMIE_Humanoid_Loco-Manipulation_with_Isomorphic_Exoskeleton_Cockpit", + "category": "高影响力精选 / 遥操作与模仿学习", + "track": "high_impact_cycle" + }, + { + "date": "2026-05-15", + "index": 187, + "title": "Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits", + "folder": "papers/05_Locomotion/Biomechanical_Comparisons_Reveal_Divergence_of_Human_and_Humanoid_Gaits", + "module": "05_Locomotion" + }, + { + "date": "2026-05-16", + "index": "H12", + "title": "Real-World Humanoid Locomotion with Reinforcement Learning", + "folder": "papers/03_High_Impact_Selection/Real-World_Humanoid_Locomotion_with_RL", + "category": "高影响力精选 / Locomotion 经典", + "track": "high_impact_cycle" + }, + { + "date": "2026-05-16", + "index": "H23", + "title": "BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities", + "folder": "papers/03_High_Impact_Selection/BEHAVIOR_Robot_Suite_Streamlining_Real-World_Whole-Body_Manipulation", + "category": "高影响力精选 / 仿真平台与工具", + "track": "high_impact_cycle" + }, + { + "date": "2026-05-16", + "index": 271, + "title": "HumDex: Humanoid Dexterous Manipulation Made Easy", + "folder": "papers/06_Manipulation/HumDex_Humanoid_Dexterous_Manipulation_Made_Easy", + "module": "06_Manipulation", + "track": "module_rotation" + }, + { + "date": "2026-05-17", + "index": 329, + "title": "CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation", + "folder": "papers/07_Teleoperation/CLOT__Closed-Loop_Global_Motion_Tracking_for_Whole-Body_Humanoid_Teleoperation", + "module": "07_Teleoperation", + "track": "module_rotation" + }, + { + "date": "2026-05-17", + "index": "H17", + "title": "Learning Agile and Dynamic Motor Skills for Legged Robots (ANYmal, Hwangbo et al. 2019)", + "folder": "papers/03_High_Impact_Selection/Learning_Agile_and_Dynamic_Motor_Skills_for_Legged_Robots", + "category": "高影响力精选 / Sim-to-Real & Foundation Model", + "track": "high_impact_cycle" + }, + { + "date": "2026-05-18", + "index": "H21", + "title": "Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real 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Loco-manipulation over Unstructured Scenes", + "module": "04_Loco-Manipulation_and_WBC", + "category": "04_Loco-Manipulation_and_WBC", + "note_path": "papers/04_Loco-Manipulation_and_WBC/PILOT__A_Perceptive_Integrated_Low-level_Controller_for_Loco-manipulation/PILOT__A_Perceptive_Integrated_Low-level_Controller_for_Loco-manipulation.md", + "track": "module_rotation", + "arxiv": "2601.17440", + "source_repo": null, + "project_page": null + }, + { + "date": "2026-06-03", + "index": 192, + "title": "XHugWBC: Scalable and General Whole-Body Control for Cross-Humanoid Locomotion", + "module": "05_Locomotion", + "category": "05_Locomotion", + "note_path": "papers/05_Locomotion/XHugWBC__Scalable_and_General_Whole-Body_Control_for_Cross-Humanoid_Locomotion/XHugWBC__Scalable_and_General_Whole-Body_Control_for_Cross-Humanoid_Locomotion.md", + "track": "module_rotation", + "arxiv": "2602.05791", + "source_repo": null, + "project_page": "https://xhugwbc.github.io/" + }, + { + "date": "2026-06-10", + "index": 414, + "title": "OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer", + "module": "12_Hardware_Design", + "category": "12_Hardware_Design", + "note_path": "papers/12_Hardware_Design/OSMO_Open-Source_Tactile_Glove_for_Human-to-Robot_Skill_Transfer/OSMO_Open-Source_Tactile_Glove_for_Human-to-Robot_Skill_Transfer.md", + "track": "module_rotation", + "arxiv": "2512.08920", + "source_repo": "https://github.com/jessicayin/osmo_tactile_glove", + "project_page": "https://jessicayin.github.io/osmo_tactile_glove/" + }, + { + "date": "2026-06-10", + "index": 540, + "title": "HALO: Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation", + "module": "10_Sim-to-Real", + "category": "10_Sim-to-Real", + "note_path": "papers/10_Sim-to-Real/HALO_Closing_Sim-to-Real_Gap_for_Heavy-loaded_Humanoid_Agile_Motion/HALO_Closing_Sim-to-Real_Gap_for_Heavy-loaded_Humanoid_Agile_Motion.md", + "track": "module_rotation", + "arxiv": "2603.15084", + "source_repo": null, + "project_page": "https://mwondering.github.io/halo-humanoid/" + }, + { + "date": "2026-06-10", + "index": 408, + "title": "ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control", + "module": "11_Simulation_Benchmark", + "category": "11_Simulation_Benchmark", + "note_path": "papers/11_Simulation_Benchmark/ComFree-Sim__GPU-Parallelized_Analytical_Contact_Physics_Engine/ComFree-Sim__GPU-Parallelized_Analytical_Contact_Physics_Engine.md", + "track": "module_rotation", + "arxiv": "2603.12185", + "source_repo": "https://github.com/asu-iris/comfree_warp", + "project_page": "https://irislab.tech/comfree-sim/" + }, + { + "date": "2026-06-13", + "index": 520, + "title": "Kimodo: Scaling Controllable Human Motion Generation", + "module": "14_Human_Motion", + "category": "14_Human_Motion", + "note_path": "papers/14_Human_Motion/Kimodo__Scaling_Controllable_Human_Motion_Generation/Kimodo__Scaling_Controllable_Human_Motion_Generation.md", + "track": "module_rotation", + "arxiv": "2603.15546", + "source_repo": "https://github.com/nv-tlabs/kimodo", + "project_page": "https://research.nvidia.com/labs/sil/projects/kimodo/" + }, + { + "date": "2026-06-21", + "index": 546, + "title": "HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers", + "module": "04_Loco-Manipulation_and_WBC", + "category": "04_Loco-Manipulation_and_WBC", + "note_path": "papers/04_Loco-Manipulation_and_WBC/HANDOFF__Humanoid_Agentic_Task-Space_Whole-Body_Control_via_Distilled_Teachers/HANDOFF__Humanoid_Agentic_Task-Space_Whole-Body_Control_via_Distilled_Teachers.md", + "track": "module_rotation", + "arxiv": "2606.06493", + "source_repo": "https://github.com/lzyang2000/HANDOFF", + "project_page": "https://lzyang2000.github.io/HANDOFF/" + }, + { + "date": "2026-06-24", + "index": 368, + "title": "LOVON: Legged Open-Vocabulary Object Navigator", + "module": "08_Navigation", + "category": "08_Navigation", + "note_path": "papers/08_Navigation/LOVON__Legged_Open-Vocabulary_Object_Navigator/LOVON__Legged_Open-Vocabulary_Object_Navigator.md", + "track": "module_rotation", + "arxiv": "2507.06747", + "source_repo": "https://github.com/DaojiePENG/LOVON", + "project_page": "https://daojiepeng.github.io/LOVON/" + }, + { + "date": "2026-06-25", + "index": 552, + "title": "GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors", + "module": "11_Simulation_Benchmark", + "category": "11_Simulation_Benchmark", + "note_path": "papers/11_Simulation_Benchmark/GRAIL__Generating_Humanoid_Loco-Manipulation_from_3D_Assets_and_Video_Priors/GRAIL__Generating_Humanoid_Loco-Manipulation_from_3D_Assets_and_Video_Priors.md", + "track": "module_rotation", + "arxiv": "2606.05160", + "source_repo": "https://github.com/NVlabs/GRAIL", + "project_page": "https://research.nvidia.com/labs/dair/grail/" + }, + { + "date": "2026-07-02", + "index": 340, + "title": "CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks", + "module": "07_Teleoperation", + "category": "07_Teleoperation", + "note_path": "papers/07_Teleoperation/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks/CLONE__Closed-Loop_Whole-Body_Humanoid_Teleoperation_for_Long-Horizon_Tasks.md", + "track": "module_rotation", + "arxiv": "2506.08931", + "source_repo": "https://github.com/humanoid-clone/CLONE", + "project_page": "https://humanoid-clone.github.io/" + } ], - "reason_for_change": "用户原始任务要求「在高影响力精选模块内循环」，应覆盖该模块全部 5 个子类；早期把「Locomotion 经典 / Sim-to-Real & Foundation Model」误标为另一路自动化责任、缩小到三类轮转，2026-05-22 更正为五类" - }, - "last_category": "Locomotion 经典", - "last_completed": "H16 ECO: Energy-Constrained Optimization with RL for Humanoid Walking (arXiv:2602.06445)", - "last_completed_date": "2026-05-17", - "next_category": "全身控制核心", - "next_candidate": "高影响力精选 H1–H23（五类轮转）已于 2026-05-17 全部闭环。轨 A 暂无新的待写条目：请在 papers/PROGRESS.md「⭐ 高影响力精选」中补充新论文并同步目录，或明确下一批候选编号后再跑每日任务。总览见 papers/DAILY_SUMMARY_LOG.md" - }, - "module_rotation": { - "description": "每天按模块轮转：04(WBC) → 05(行走运动) → 06(灵巧操作) → 07(遥操作) → 08(导航) → 09(状态估计) → 10(Sim2Real) → 11(仿真/基准) → 12(硬件) → 13(物理动画) → 14(人体动作) → 回到 04", - "order": [ - "04_Loco-Manipulation_and_WBC", - "05_Locomotion", - "06_Manipulation", - "07_Teleoperation", - "08_Navigation", - "09_State_Estimation", - "10_Sim-to-Real", - "11_Simulation_Benchmark", - "12_Hardware_Design", - "13_Physics-Based_Animation", - "14_Human_Motion" - ], - "last_module": "06_Manipulation", - "last_index": 295, - "last_title": "EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos (arXiv:2507.12440)", - "next_module": "07_Teleoperation" - }, - "last_summary_index": 197, - "last_summary_date": "2026-06-30", - "last_summary_title": "Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds", - "next_summary_index": null, - "log": [ - { - "date": "2026-06-30", - "index": 197, - "title": "Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds", - "folder": "papers/05_Locomotion/Walk_the_PLANC__Physics-Guided_RL_for_Agile_Humanoid_Locomotion_on_Constrained_Footholds", - "module": "05_Locomotion", - "arxiv": "2601.06286", - "source": "匿名仓库 anonymous.4open.science/r/robot_rl-E4FF（待正式开源）· 项目页 caltech-amber.github.io/planc · Unitree G1 21-DoF 真机 · 模块轮转（04_Loco-Manipulation_and_WBC → 05_Locomotion）" - }, - { - "date": "2026-06-29", - "index": 64, - "title": "PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations", - "folder": "papers/04_Loco-Manipulation_and_WBC/PvP__Data-Efficient_Humanoid_Robot_Learning_with_Proprioceptive-Privileged_Contrastive", - "module": "04_Loco-Manipulation_and_WBC", - "arxiv": "2512.13093", - "source": "宣称开源 SRL4Humanoid（未见公开仓库链接）· LimX Oli 31-DoF 真机 · 模块轮转（14_Human_Motion → 04_Loco-Manipulation_and_WBC）" - }, - { - "date": "2026-06-28", - "index": 485, - "title": "GENMO: A Generalist Model for Human Motion", - "folder": "papers/14_Human_Motion/GENMO__A_Generalist_Model_for_Human_Motion", - "module": "14_Human_Motion", - "arxiv": "2505.01425", - "source": "未见公开训练代码 · 项目页 research.nvidia.com/labs/dair/genmo · NVIDIA DAIR · 模块轮转（13_Physics-Based_Animation → 14_Human_Motion）" - }, - { - "date": "2026-06-27", - "index": "—", - "title": "InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions", - "folder": "papers/13_Physics-Based_Animation/InterPrior__Scaling_Generative_Control_for_Physics-Based_Human-Object_Inter", - "module": "13_Physics-Based_Animation", - "arxiv": "2602.06035", - "source": "未见官方代码 · 项目页 sirui-xu.github.io/InterPrior · UIUC + Amazon · 模块轮转（12_Hardware_Design → 13_Physics-Based_Animation）" - }, - { - "date": "2026-06-26", - "index": "—", - "title": "DecARt Leg: Novel Humanoid Robot Leg with Decoupled Actuation", - "folder": "papers/12_Hardware_Design/DecARt_Leg_Novel_Humanoid_Robot_Leg_with_Decoupled_Actuation", - "module": "12_Hardware_Design", - "arxiv": "2511.10021", - "source": "未见官方代码 · FAST 敏捷度评测 · MIPT · 模块轮转（11_Simulation_Benchmark → 12_Hardware_Design）" - }, - { - "date": "2026-06-25", - "index": 374, - "title": "The Invariant Extended Kalman Filter as a Stable Observer", - "folder": "papers/09_State_Estimation/The_Invariant_Extended_Kalman_Filter_as_a_Stable_Observer", - "module": "09_State_Estimation", - "arxiv": "1410.1465", - "source": "理论论文无配套代码 · 工程实现参考 RossHartley/invariant-ekf · IEEE TAC 2017" - }, - { - "date": "2026-06-24", - "index": 356, - "title": "INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM", - "folder": "papers/08_Navigation/INTENTION__Inferring_Tendencies_of_Humanoid_Robot_Motion_Through_Interactive_Int", - "module": "08_Navigation", - "arxiv": "2508.04931", - "source": "未见公开仓库/项目页 · IIT (Tsagarakis 团队) · IEEE Humanoids" - }, - { - "date": "2026-06-23", - "index": 336, - "title": "LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy", - "folder": "papers/07_Teleoperation/LapSurgie__Humanoid_Robots_Performing_Surgery_via_Teleoperated_Handheld_Laparoscopy", - "module": "07_Teleoperation", - "arxiv": "2510.03529", - "source": "未见公开仓库 · UCSD ARCLAB 项目页" - }, - { - "date": "2026-06-22", - "index": 279, - "title": "SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot", - "folder": "papers/06_Manipulation/SafeHumanoid__VLM-RAG-driven_Control_of_Upper_Body_Impedance", - "module": "06_Manipulation", - "arxiv": "2511.23300", - "source": "论文未公开代码/项目页（Skoltech ISR Lab）" - }, - { - "date": "2026-06-21", - "index": 196, - "title": "FastStair: Learning to Run Up Stairs with Humanoid Robots", - "folder": "papers/05_Locomotion/FastStair__Learning_to_Run_Up_Stairs_with_Humanoid_Robots", - "module": "05_Locomotion", - "arxiv": "2601.10365", - "source": "npcliu.github.io/FastStair · youtu.be/SoLBK7VEGDo" - }, - { - "date": "2026-06-20", - "index": 482, - "title": "Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction", - "folder": "papers/14_Human_Motion/Efficient_and_Scalable_Monocular_Human-Object_Interaction_Motion_Reconstruction", - "module": "14_Human_Motion", - "arxiv": "2512.00960", - "source": "wenboran2002/open4dhoi_code · wenboran2002.github.io/open4dhoi" - }, - { - "date": "2026-06-19", - "index": 550, - "title": "OMG: Omni-Modal Motion Generation for Generalist Humanoid Control", - "folder": "papers/13_Physics-Based_Animation/OMG__Omni-Modal_Motion_Generation_for_Generalist_Humanoid_Control", - "module": "13_Physics-Based_Animation", - "arxiv": "2606.10340", - "source": "Tsinghua-MARS-Lab/OMG · tsinghua-mars-lab.github.io/OMG" - }, - { - "date": "2026-06-18", - "index": 549, - "title": "DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity", - "folder": "papers/12_Hardware_Design/DexLink_Hand__Compact_Affordable_16-DOF_Linkage-Driven_Hand", - "module": "12_Hardware_Design", - "arxiv": "2606.17418", - "source": "论文未公开代码/CAD/项目页（机构正用于商业化灵巧手平台）" - }, - { - "date": "2026-06-17", - "index": 548, - "title": "Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids", - "folder": "papers/10_Sim-to-Real/Robot_Trains_Robot_Automatic_Real-World_Policy_Adaptation_and_Learning", - "module": "10_Sim-to-Real", - "arxiv": "2508.12252", - "source": "hukz18/Robot-Trains-Robot · robot-trains-robot.github.io" - }, - { - "date": "2026-06-17", - "index": 547, - "title": "Four Simple Proprioceptive Estimators for Legged Robots", - "folder": "papers/09_State_Estimation/Four_Simple_Proprioceptive_Estimators_for_Legged_Robots", - "module": "09_State_Estimation", - "arxiv": "2605.23100", - "source": "borglab/gtsam (LeggedEstimatorReplayExample.cpp) · ChiyunNoh/GTSAM-Legged-Estimator-ROS2" - }, - { - "date": "2026-06-17", - "index": 546, - "title": "X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation", - "folder": "papers/12_Hardware_Design/X2-N__Transformable_Wheel-legged_Humanoid_Robot_with_Dual-mode_Locomotion_and_Manipulation", - "module": "12_Hardware_Design", - "arxiv": "2604.21541", - "source": "论文未公开代码/项目页" - }, - { - "date": "2026-06-17", - "index": 545, - "title": "Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation", - "folder": "papers/11_Simulation_Benchmark/Humanoid_Everyday__Comprehensive_Robotic_Dataset_for_Open-World_Humanoid_Manipulation", - "module": "11_Simulation_Benchmark", - "arxiv": "2510.08807", - "source": "physical-superintelligence-lab/Humanoid-Everyday · HF USC-GVL/humanoid-everyday" - }, - { - "date": "2026-06-17", - "index": 544, - "title": "Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection", - "folder": "papers/10_Sim-to-Real/Sim-to-Real_Humanoid_Locomotion_via_Joint_Torque_Space_Perturbation_Injection", - "module": "10_Sim-to-Real", - "arxiv": "2504.06585", - "source": "论文未公开代码" - }, - { - "date": "2026-06-17", - "index": 543, - "title": "Learning Contact Representation for Leg Odometry", - "folder": "papers/09_State_Estimation/Learning_Contact_Representation_for_Leg_Odometry", - "module": "09_State_Estimation", - "source": "https://github.com/srge-erau/learning_contact_representation" - }, - { - "date": "2026-06-17", - "index": 365, - "title": "Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains", - "folder": "papers/08_Navigation/Gallant__Voxel_Grid-based_Humanoid_Locomotion_and_Local-navigation_across_3D_Constrained_Terrains", - "module": "08_Navigation", - "source": "https://github.com/InternRobotics/Gallant" - }, - { - "date": "2026-06-16", - "index": 335, - "title": "Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation", - "folder": "papers/07_Teleoperation/Stability-Aware_Retargeting_for_Humanoid_Multi-Contact_Teleoperation", - "module": "07_Teleoperation", - "source": "截至当前未见公开仓库（论文未给出 GitHub 链接）；IEEE Xplore document/11204000；arXiv 2510.04353" - }, - { - "date": "2026-06-15", - "index": 277, - "title": "Genie Sim 3.0: A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot", - "folder": "papers/06_Manipulation/Genie_Sim_3.0__A_High-Fidelity_Comprehensive_Simulation_Platform_for_Humanoid_Robot", - "module": "06_Manipulation", - "source": "https://github.com/AgibotTech/genie_sim" - }, - { - "date": "2026-06-15", - "index": 194, - "title": "CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains", - "folder": "papers/05_Locomotion/CMR__Contractive_Mapping_Embeddings_for_Robust_Humanoid_Locomotion", - "module": "05_Locomotion", - "source": "截至当前未见公开仓库（论文未给出 GitHub 链接）" - }, - { - "date": "2026-06-14", - "index": 534, - "title": "SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation", - "folder": "papers/04_Loco-Manipulation_and_WBC/SplitAdapter__Load-Aware_Humanoid_Loco-Manipulation_via_Factorized_Adaptation", - "module": "04_Loco-Manipulation_and_WBC", - "source": "暂未释出（项目页 splitadapter.github.io 留有 Code 占位入口）" - }, - { - "date": "2026-06-12", - "index": 541, - "title": "Physics-Based Motion Tracking of Contact-Rich Interacting Characters", - "folder": "papers/13_Physics-Based_Animation/Physics-Based_Motion_Tracking_of_Contact-Rich_Interacting_Characters", - "module": "13_Physics-Based_Animation", - "source": "截至当前未见公开仓库（论文/项目页未给出 GitHub 链接）" - }, - { - "date": "2026-06-17", - "index": 355, - "title": "LookOut: Real-World Humanoid Egocentric Navigation", - "folder": "papers/08_Navigation/LookOut__Real-World_Humanoid_Egocentric_Navigation", - "module": "08_Navigation", - "source": "https://sites.google.com/stanford.edu/lookout" - }, - { - "date": "2026-06-16", - "index": 334, - "title": "Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots", - "folder": "papers/07_Teleoperation/Intuitive_GUI_for_Non-Expert_Teleoperation_of_Humanoid_Robots", - "module": "07_Teleoperation", - "source": "截至当前未见公开仓库（论文未给出 GitHub 链接）" - }, - { - "date": "2026-06-15", - "index": 276, - "title": "DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation", - "folder": "papers/06_Manipulation/DexterCap__An_Affordable_and_Automated_System_for_Capturing_Dexterous_Hand-Object" - }, - { - "date": "2026-06-14", - "index": 193, - "title": "HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation", - "folder": "papers/05_Locomotion/HoRD__Robust_Humanoid_Control_via_History-Conditioned_RL_and_Online_Distillation" - }, - { - "date": "2026-06-13", - "index": 54, - "title": "Collision-Free Humanoid Traversal in Cluttered Indoor Scenes", - "folder": "papers/04_Loco-Manipulation_and_WBC/Collision-Free_Humanoid_Traversal_in_Cluttered_Indoor_Scenes" - }, - { - "date": "2026-06-12", - "index": 480, - "title": "Control Operators for Interactive Character Animation", - "folder": "papers/14_Human_Motion/Control_Operators_for_Interactive_Character_Animation" - }, - { - "date": "2026-06-11", - "index": 452, - "title": "Learning to Ball: Composing Policies for Long-Horizon Basketball Moves", - "folder": "papers/13_Physics-Based_Animation/Learning_to_Ball__Composing_Policies_for_Long-Horizon_Basketball_Moves" - }, - { - "date": "2026-06-09", - "index": 393, - "title": "Generative World Modelling for Humanoids: 1X World Model Challenge Technical Report", - "folder": "papers/11_Simulation_Benchmark/Generative_World_Modelling_for_Humanoids__1X_World_Model_Challenge_Technical_Report" - }, - { - "date": "2026-06-08", - "index": 383, - "title": "Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots (PACE)", - "folder": "papers/10_Sim-to-Real/PACE_Systematic_Sim-to-Real_Transfer_for_Diverse_Legged_Robots" - }, - { - "date": "2026-06-07", - "index": 373, - "title": "Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors", - "folder": "papers/09_State_Estimation/Legged_Robot_State-Estimation_via_Forward_Kinematic_and_Preintegrated_Contact_Factors" - }, - { - "date": "2026-06-06", - "index": 354, - "title": "Quantum deep reinforcement learning for humanoid robot navigation task", - "folder": "papers/08_Navigation/Quantum_Deep_RL_for_Humanoid_Robot_Navigation" - }, - { - "date": "2026-06-05", - "index": 333, - "title": "Learning Adaptive Neural Teleoperation for Humanoid Robots: From Inverse Kinematics to End-to-End Control", - "folder": "papers/07_Teleoperation/Learning_Adaptive_Neural_Teleoperation_for_Humanoid_Robots" - }, - { - "date": "2026-06-04", - "index": 275, - "title": "Generalizable Geometric Prior and Recurrent Spiking Feature Learning for Humanoid Robot Manipulation", - "folder": "papers/06_Manipulation/RGMP-S__Generalizable_Geometric_Prior_and_Recurrent_Spiking_Feature_Learning_for_Humanoid_Manipulation" - }, - { - "date": "2026-04-24", - "index": 14, - "title": "LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data", - "folder": "papers/04_Loco-Manipulation_and_WBC/LATENT__Learning_Athletic_Humanoid_Tennis_Skills_from_Imperfect_Human_Motion_Dat" - }, - { - "date": "2026-04-25", - "index": 15, - "title": "Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation", - "folder": "papers/04_Loco-Manipulation_and_WBC/Ψ₀__An_Open_Foundation_Model_Towards_Universal_Humanoid_Loco-Manipulation" - }, - { - "date": "2026-04-25", - "index": 16, - "title": "SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual RL", - "folder": "papers/04_Loco-Manipulation_and_WBC/SteadyTray__Learning_Object_Balancing_Tasks_in_Humanoid_Tray_Transport_via_Resid" - }, - { - 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"arxiv": "Robust and Generalized Humanoid Motion Tracking", + "folder": "papers/04_Loco-Manipulation_and_WBC/Robust_and_Generalized_Humanoid_Motion_Tracking", + "note_file": "Robust_and_Generalized_Humanoid_Motion_Tracking.md", + "pdf_file": "Robust.pdf", + "status": "done", + "start_date": null, + "done_date": null, + "route": "Loco-Manipulation", + "title_cn": "" + }, + { + "title": "RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing", + "arxiv": "2601.22517", + "folder": "papers/04_Loco-Manipulation_and_WBC/RoboStriker__Hierarchical_Decision-Making_for_Autonomous_Humanoid_Boxing", + "note_file": "RoboStriker__Hierarchical_Decision-Making_for_Autonomous_Humanoid_Boxing.md", + "pdf_file": "RoboStriker.pdf", + "status": "done", + "start_date": "2026-05-22", + "done_date": "2026-05-22", + "route": "Loco-Manipulation", + "title_cn": "RoboStriker：用潜空间神经虚拟自博弈实现自主人形拳击对抗" + }, + { + "title": "PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over 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