Cover Image

DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Fan, Yahao, Gui, Tianxiang, Ji, Kaiyang, Ding, Shutong, Zhang, Chixuan, Xu, Yifeng, Yang, Ke, Gu, Jiayuan, Yu, Jingyi, Wang, Jingya, Shi, Ye
Format:	Preprint
Published:	2025
Subjects:	Robotics Machine Learning
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
by: Liu, Zhirui, et al.
Published: (2025)

Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization
by: Ding, Shutong, et al.
Published: (2024)

A Unified Diffusion Framework for Scene-aware Human Motion Estimation from Sparse Signals
by: Tang, Jiangnan, et al.
Published: (2024)

AffordDP: Generalizable Diffusion Policy with Transferable Affordance
by: Wu, Shijie, et al.
Published: (2024)

Human-Object Interaction via Automatically Designed VLM-Guided Motion Policy
by: Deng, Zekai, et al.
Published: (2025)

GenPO: Generative Diffusion Models Meet On-Policy Reinforcement Learning
by: Ding, Shutong, et al.
Published: (2025)

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
by: Shi, Jiyuan, et al.
Published: (2025)

SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control
by: Zhang, Jingyan, et al.
Published: (2026)

Guidance with Spherical Gaussian Constraint for Conditional Diffusion
by: Yang, Lingxiao, et al.
Published: (2024)

RuN: Residual Policy for Natural Humanoid Locomotion
by: Li, Qingpeng, et al.
Published: (2025)

DiscoForcing: A Unified Framework for Real-Time Audio-Driven Character Control with Diffusion Forcing
by: Ji, Kaiyang, et al.
Published: (2026)

A Review of Online Diffusion Policy RL Algorithms for Scalable Robotic Control
by: Choi, Wonhyeok, et al.
Published: (2026)

HOID-R1: Reinforcement Learning for Open-World Human-Object Interaction Detection Reasoning with Multimodal Large Language Model
by: Zhang, Zhenhao, et al.
Published: (2025)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
by: Chen, Zixuan, et al.
Published: (2024)

Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion
by: Shin, Jaeyong, et al.
Published: (2025)

End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
by: Wang, Zifan, et al.
Published: (2025)

X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
by: Wang, Dewei, et al.
Published: (2026)

Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy
by: Nie, Buqing, et al.
Published: (2025)

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
by: Gu, Xinyang, et al.
Published: (2024)

Humanoid Policy ~ Human Policy
by: Qiu, Ri-Zhao, et al.
Published: (2025)

Sample-Efficient Diffusion-based Reinforcement Learning with Critic Guidance
by: Ding, Shutong, et al.
Published: (2026)

Unified Humanoid Fall-Safety Policy from a Few Demonstrations
by: Xu, Zhengjie, et al.
Published: (2025)

Towards Immersive Human-X Interaction: A Real-Time Framework for Physically Plausible Motion Synthesis
by: Ji, Kaiyang, et al.
Published: (2025)

Learning Humanoid Locomotion with World Model Reconstruction
by: Sun, Wandong, et al.
Published: (2025)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2025)

DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
by: Nguyen, Khang, et al.
Published: (2025)

TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion
by: Nguyen, Khang, et al.
Published: (2025)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2026)

ARFlow: Human Action-Reaction Flow Matching with Physical Guidance
by: Jiang, Wentao, et al.
Published: (2025)

UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
by: Chen, Boyu, et al.
Published: (2026)

Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
by: Xue, Yufei, et al.
Published: (2026)

Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
by: Zhang, Jianguo, et al.
Published: (2026)

Distributional Reinforcement Learning with Diffusion Bridge Critics
by: Ding, Shutong, et al.
Published: (2026)

Scalable Policy Evaluation with Video World Models
by: Tseng, Wei-Cheng, et al.
Published: (2025)

StressDream: Steering Video World Models for Robust Policy Evaluation and Improvement
by: Seo, Junwon, et al.
Published: (2026)

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
by: Hu, Kaizhe, et al.
Published: (2025)

DreamWorld: Unified World Modeling in Video Generation
by: Tan, Boming, et al.
Published: (2026)

Diffusion Bridge or Flow Matching? A Unifying Framework and Comparative Analysis
by: Zhu, Kaizhen, et al.
Published: (2025)

ExFace: Expressive Facial Control for Humanoid Robots with Diffusion Transformers and Bootstrap Training
by: Zhang, Dong, et al.
Published: (2025)

Humanoid Locomotion as Next Token Prediction
by: Radosavovic, Ilija, et al.
Published: (2024)