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标签: whole-body-control
此标签下有46条笔记。
2026年7月16日
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
whole-body-control
legged-manipulator
quadruped-manipulation
reinforcement-learning
sim-to-real
advantage-mixing
regularized-online-adaptation
ppo
isaac-gym
unitree-go1
2026年7月16日
Perpetual Humanoid Control for Real-time Simulated Avatars
humanoid
motion-imitation
physics-based-control
amass
smpl
pmcp
amp
isaac-gym
fail-state-recovery
whole-body-control
2026年7月16日
Expressive Whole-Body Control for Humanoid Robots
humanoid
whole-body-control
unitree-h1
motion-imitation
reinforcement-learning
cmu-mocap
sim2real
rss-2024
ppo
motion-retargeting
2026年7月16日
ExBody2: Advanced Expressive Humanoid Whole-Body Control
humanoid
whole-body-control
motion-tracking
teacher-student
sim2real
PPO
DAgger
CVAE
AMASS
unitree-g1
2026年7月16日
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation (H2O)
humanoid
teleoperation
whole-body-control
motion-imitation
sim-to-real
reinforcement-learning
retargeting
unitree-h1
amass
rgb-camera
2026年7月16日
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
legged-locomotion
quadruped-manipulation
unitree-go2
vision-language-model
zero-shot-generalization
sim-to-real
florence-2
sam2
whole-body-control
open-vocabulary
2026年7月16日
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
humanoid
whole-body-control
unitree-h1
motion-imitation
policy-distillation
dagger
multi-mode
sim2real
ppo
icra-2025
2026年7月16日
Humanoid Parkour Learning
humanoid
parkour
legged-locomotion
sim-to-real
reinforcement-learning
privileged-distillation
depth-vision
unitree-h1
whole-body-control
2026年7月16日
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
embodied-ai
benchmark
humanoid
whole-body-control
loco-manipulation
mujoco
unitree-h1
dexterous-hands
hierarchical-rl
tactile
2026年7月16日
HumanPlus: Humanoid Shadowing and Imitation from Humans
humanoid
whole-body-control
teleoperation
imitation-learning
shadowing
unitree-h1
amass
action-chunking
sim2real
corl-2024
2026年7月16日
Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
humanoid
whole-body-control
digit-v3
motion-tracking
masked-conditioning
reinforcement-learning
multi-modal-control
sim2real
curriculum-learning
lstm
2026年7月16日
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
humanoid
whole-body-control
teleoperation
unitree-h1
fourier-gr1
cvae
motion-prior
apple-vision-pro
loco-manipulation
icra-2025
2026年7月16日
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
humanoid
whole-body-control
teleoperation
sim-to-real
RL
teacher-student
dexterous-manipulation
imitation-learning
unitree-h1
diffusion-policy
2026年7月16日
Learning from Massive Human Videos for Universal Humanoid Pose Control
humanoid
whole-body-control
action-tokenization
vq-vae
transformer
motion-retargeting
internet-video
text-conditioned-control
unitree-h1
ppo
2026年7月16日
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
quadruped-manipulation
whole-body-control
umi
diffusion-policy
cross-embodiment
sim2real
reinforcement-learning
end-effector-trajectory
task-frame-tracking
corl-2024
2026年7月16日
WildLMa: Long Horizon Loco-Manipulation in the Wild
quadruped
loco-manipulation
whole-body-control
imitation-learning
CLIP
MaskCLIP
VR-teleoperation
LLM-planner
long-horizon
ACT
2026年7月16日
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
humanoid
multi-contact
whole-body-control
reinforcement-learning
curiosity-exploration
sim-to-real
unitree-h1
parkour
loco-manipulation
ppo
Exploration
2026年7月16日
AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
humanoid
whole-body-control
trajectory-optimization
sim2real
teacher-student
teleoperation
unitree-g1
act
crocoddyl
rss-2025
2026年7月16日
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
humanoid
sim-to-real
residual-action
whole-body-control
motion-tracking
unitree-g1
reinforcement-learning
delta-action
dynamics-gap
2026年7月16日
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
survey
behavior-foundation-model
humanoid
whole-body-control
forward-backward-representation
successor-measure
unsupervised-rl
zero-shot-adaptation
motion-tracking
sim-to-real
2026年7月16日
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills
humanoid
hierarchical-agent
vision-language-model
foundation-model
teleoperation
act-policy
whole-body-control
unitree-h1-2
embodied-agent
long-horizon-task
2026年7月16日
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
humanoid
motion-tracking
guided-diffusion
sim-to-real
whole-body-control
deepmimic
unitree-g1
classifier-guidance
lafan1
2026年7月16日
BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
humanoid
whole-body-control
unsupervised-rl
forward-backward-representation
zero-shot-rl
successor-features
behavioral-foundation-model
unitree-g1
sim-to-real
latent-space
2026年7月16日
CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
humanoid
teleoperation
whole-body-control
mixture-of-experts
closed-loop-control
lidar-odometry
unitree-g1
mixed-reality
teacher-student-distillation
corl-2025
2026年7月16日
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
humanoid
loco-manipulation
force-adaptation
dual-agent-rl
whole-body-control
unitree-g1
booster-t1
torque-limit-curriculum
sim-to-real
ppo
2026年7月16日
Helix: A Vision-Language-Action Model for Generalist Humanoid Control
vla
humanoid
dual-system
system1-system2
whole-body-control
teleoperation
onboard-inference
multi-robot
2026年7月16日
Galaxea Open-World Dataset and G0 Dual-System VLA Model
vla
dual-system
mobile-manipulation
whole-body-control
flow-matching
fast-tokenizer
paligemma
qwen2.5-vl
open-world-dataset
cross-embodiment-pretraining
2026年7月16日
GMT: General Motion Tracking for Humanoid Whole-Body Control
humanoid
whole-body-control
motion-tracking
motion-imitation
mixture-of-experts
adaptive-sampling
teacher-student
sim-to-real
unitree-g1
amass
2026年7月16日
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
humanoid
loco-manipulation
teleoperation
exoskeleton
reinforcement-learning
whole-body-control
unitree-g1
fourier-gr1
imitation-learning
mocap-free
2026年7月16日
HuB: Learning Extreme Humanoid Balance
humanoid
balance-control
reinforcement-learning
sim-to-real
motion-retargeting
unitree-g1
teacher-student-distillation
whole-body-control
quasi-static-balance
2026年7月16日
HugWBC: A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
humanoid
whole-body-control
loco-manipulation
command-space
gait-control
teleoperation-intervention
sim-to-real
reinforcement-learning
unitree-h1
isaacgym
2026年7月16日
Learning Getting-Up Policies for Real-World Humanoid Robots
humanoid
fall-recovery
getting-up
whole-body-control
curriculum-learning
sim-to-real
reinforcement-learning
unitree-g1
isaacgym
ppo
2026年7月16日
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
humanoid
whole-body-control
motion-tracking
unitree-g1
adaptive-curriculum
bi-level-optimization
sim-to-real
reinforcement-learning
motion-retargeting
2026年7月16日
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
humanoid
whole-body-control
vla
latent-action
cvae
system1-system2
sim2real
unitree-g1
isaacsim
dagger
2026年7月16日
1X NEO + Redwood AI (learned world-model policy)
humanoid
home-robot
vla
world-model
diffusion-policy
whole-body-control
inverse-dynamics-model
video-generation
reinforcement-learning
consumer-robotics
2026年7月16日
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
humanoid
loco-manipulation
residual-learning
motion-tracking
whole-body-control
sim-to-real
unitree-g1
reinforcement-learning
contact-reward
ppo
2026年7月16日
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
humanoid
whole-body-control
loco-manipulation
hierarchical-rl
skill-blending
goal-conditioned
cross-embodiment
benchmark
reward-hacking
isaac-gym
2026年7月16日
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
humanoid
whole-body-control
motion-tracking
motion-imitation
scaling
cross-embodiment
universal-token
fsq
teleoperation
vla
unitree-g1
sim-to-real
2026年7月16日
TWIST: Teleoperated Whole-Body Imitation System
humanoid
whole-body-control
teleoperation
motion-imitation
motion-tracking
teacher-student
rl-bc
sim-to-real
unitree-g1
mocap
2026年7月16日
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
humanoid
teleoperation
mocap-free
vr-teleoperation
egocentric-vision
whole-body-control
diffusion-policy
motion-retargeting
unitree-g1
data-collection
2026年7月16日
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
humanoid
whole-body-control
motion-tracking
cvae
teacher-student
unitree-g1
amass
sim-to-real
residual-adaptation
latent-diversity
2026年7月16日
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
humanoid
whole-body-control
loco-manipulation
egocentric-vision
teacher-student
keypoint-command
motion-tracking
sim-to-real
unitree-g1
dagger
2026年7月16日
WholeBodyVLA: Towards Unified Latent VLA for Whole-body Loco-manipulation Control
vla
humanoid
loco-manipulation
latent-action-model
vq-vae
reinforcement-learning
whole-body-control
agibot-x2
prismatic-vlm
iclr-2026
2026年7月16日
人形全身控制族（H2O · HumanPlus · HOVER · ASAP · 人到人形重定向）
humanoid
whole-body-control
loco-manipulation
motion-tracking
retargeting
teleoperation
sim-to-real
teacher-student
deep-dive
2026年7月16日
具身智能架构演进（VLA 骨干 · 动作头 · 扩散策略 · 人形全身控制）
embodied
architecture
vla
action-head
diffusion-policy
flow-matching
action-chunking
dual-system
humanoid
whole-body-control
cross-embodiment
survey
2026年7月16日
具身智能范式对比（VLA · 扩散策略 · 人形全身控制 · 足式运动/导航）
embodied
paradigms
vla
diffusion-policy
3d-policy
humanoid
whole-body-control
locomotion
navigation
cross-embodiment
foundation-policy