Cover Image

From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Yuxuan, Yang, Ming, Ding, Ziluo, Zhang, Yu, Zeng, Weishuai, Xu, Xinrun, Jiang, Haobin, Lu, Zongqing
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

JAEGER: Dual-Level Humanoid Whole-Body Controller
by: Ding, Ziluo, et al.
Published: (2025)

SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Control
by: Wang, Yuxuan, et al.
Published: (2025)

General Humanoid Whole-Body Control via Pretraining and Fast Adaptation
by: Wang, Zepeng, et al.
Published: (2026)

RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
by: Yue, Junpeng, et al.
Published: (2025)

UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
by: Yin, Kangning, et al.
Published: (2025)

HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
by: Bai, Shuanghao, et al.
Published: (2026)

Expressive Whole-Body Control for Humanoid Robots
by: Cheng, Xuxin, et al.
Published: (2024)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
by: He, Tairan, et al.
Published: (2024)

Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots
by: Li, Boyu, et al.
Published: (2025)

Settling Decentralized Multi-Agent Coordinated Exploration by Novelty Sharing
by: Jiang, Haobin, et al.
Published: (2024)

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

Behavior Foundation Model for Humanoid Robots
by: Zeng, Weishuai, et al.
Published: (2025)

Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
by: Peng, Quanquan, et al.
Published: (2026)

A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
by: Yuan, Mingqi, et al.
Published: (2025)

HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
by: Zhong, Rui, et al.
Published: (2025)

Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills
by: Yuan, Haoqi, et al.
Published: (2025)

Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
by: Zhang, Tianlin, et al.
Published: (2025)

Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
by: Chen, Hongjin, et al.
Published: (2026)

GMT: General Motion Tracking for Humanoid Whole-Body Control
by: Chen, Zixuan, et al.
Published: (2025)

Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots
by: Dugar, Pranay, et al.
Published: (2024)

Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
by: Jiang, Zhenyu, et al.
Published: (2024)

Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
by: Zhang, Shibowen, et al.
Published: (2026)

It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots
by: Liu, Zuhong, et al.
Published: (2025)

BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
by: Yu, Chenhao, et al.
Published: (2026)

EGM: Efficiently Learning General Motion Tracking Policy for High Dynamic Humanoid Whole-Body Control
by: Yang, Chao, et al.
Published: (2025)

FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
by: Li, Peng, et al.
Published: (2026)

Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
by: Ishihara, Koji, et al.
Published: (2024)

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
by: Xue, Yufei, et al.
Published: (2025)

Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
by: Yang, Ming, et al.
Published: (2026)

Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
by: Nai, Ruiqian, et al.
Published: (2026)

SELU: Self-Learning Embodied MLLMs in Unknown Environments
by: Li, Boyu, et al.
Published: (2024)

ExBody2: Advanced Expressive Humanoid Whole-Body Control
by: Ji, Mazeyu, et al.
Published: (2024)

A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
by: Chen, Zhenghan, et al.
Published: (2025)

TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning
by: Liu, Jiacheng, et al.
Published: (2025)

CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
by: Myers, Noboru, et al.
Published: (2025)

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
by: Sferrazza, Carmelo, et al.
Published: (2024)

Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
by: Sovukluk, Sait, et al.
Published: (2025)

Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
by: Zheng, Chunxin, et al.
Published: (2025)

SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
by: Kuang, Yuxuan, et al.
Published: (2025)

CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
by: Ma, Shihao, et al.
Published: (2026)