Cover Image

TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Liu, Jiacheng, Ding, Pengxiang, Zhou, Qihang, Wu, Yuxuan, Huang, Da, Peng, Zimian, Xiao, Wei, Zhang, Weinan, Yang, Lixin, Lu, Cewu, Wang, Donglin
Format:	Preprint
Published:	2025
Subjects:	Robotics Computer Vision and Pattern Recognition
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

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

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

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

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
by: Liu, Fukang, et al.
Published: (2024)

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

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)

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

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

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

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

Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation
by: Ren, Peng, et al.
Published: (2026)

KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
by: Han, Jinrui, et al.
Published: (2025)

From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots
by: Wang, Yuxuan, et al.
Published: (2025)

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

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

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

GEVRM: Goal-Expressive Video Generation Model For Robust Visual Manipulation
by: Zhang, Hongyin, et al.
Published: (2025)

HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
by: Lin, Kevin, et al.
Published: (2026)

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

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

ReinboT: Amplifying Robot Visual-Language Manipulation with Reinforcement Learning
by: Zhang, Hongyin, et al.
Published: (2025)

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
by: Xie, Weiji, et al.
Published: (2025)

Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
by: Zhang, Xiaoyu, et al.
Published: (2026)

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

VLA^2: Empowering Vision-Language-Action Models with an Agentic Framework for Unseen Concept Manipulation
by: Zhao, Han, et al.
Published: (2025)

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

Scalable Trajectory Generation for Whole-Body Mobile Manipulation
by: Niu, Yida, et al.
Published: (2026)

ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
by: He, Xialin, et al.
Published: (2026)

KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
by: Xie, Weiji, et al.
Published: (2025)

Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction
by: Storiale, Federica, et al.
Published: (2024)

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

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

Motion Before Action: Diffusing Object Motion as Manipulation Condition
by: Su, Yue, et al.
Published: (2024)

ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
by: Liu, Wenhai, et al.
Published: (2024)

MaskedManipulator: Versatile Whole-Body Manipulation
by: Tessler, Chen, et al.
Published: (2025)

LHM-Humanoid: Learning a Unified Policy for Long-Horizon Humanoid Whole-Body Loco-Manipulation in Diverse Messy Environments
by: Zhang, Haozhuo, et al.
Published: (2025)

RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids
by: Yuan, Xichen, et al.
Published: (2026)

Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
by: Ding, Pengxiang, et al.
Published: (2025)

SMASH: Mastering Scalable Whole-Body Skills for Humanoid Ping-Pong with Egocentric Vision
by: Ren, Junli, et al.
Published: (2026)