Cover Image

VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	He, Tairan, Wang, Zi, Xue, Haoru, Ben, Qingwei, Luo, Zhengyi, Xiao, Wenli, Yuan, Ye, Da, Xingye, Castañeda, Fernando, Sastry, Shankar, Liu, Changliu, Shi, Guanya, Fan, Linxi, Zhu, Yuke
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
by: Xue, Haoru, et al.
Published: (2025)

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
by: He, Tairan, et al.
Published: (2024)

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

Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
by: Lin, Toru, et al.
Published: (2025)

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
by: He, Tairan, et al.
Published: (2025)

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
by: He, Tairan, et al.
Published: (2024)

FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
by: Zhang, Yuanhang, et al.
Published: (2025)

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
by: Zhang, Chong, et al.
Published: (2024)

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL
by: Xiao, Wenli, et al.
Published: (2025)

Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning
by: Luo, Zhengyi, et al.
Published: (2025)

HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
by: Ben, Qingwei, et al.
Published: (2025)

SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
by: Luo, Zhengyi, et al.
Published: (2025)

CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
by: Fu, Max, et al.
Published: (2026)

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

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
by: He, Tairan, et al.
Published: (2024)

LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
by: Xue, Haoru, et al.
Published: (2025)

Learning Sim-to-Real Humanoid Locomotion in 15 Minutes
by: Seo, Younggyo, et al.
Published: (2025)

Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
by: Fey, Nolan, et al.
Published: (2025)

Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
by: Sobanbabu, Nikhil, et al.
Published: (2025)

Safe Deep Policy Adaptation
by: Xiao, Wenli, et al.
Published: (2023)

HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
by: Weng, Haoyang, et al.
Published: (2025)

CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
by: Chen, Sirui, et al.
Published: (2025)

ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
by: Zhao, Siheng, et al.
Published: (2025)

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
by: Li, Yitang, et al.
Published: (2025)

VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
by: Yin, Shaofeng, et al.
Published: (2025)

OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
by: Yang, Lujie, et al.
Published: (2025)

Learning Humanoid End-Effector Control for Open-Vocabulary Visual Loco-Manipulation
by: Dong, Runpei, et al.
Published: (2026)

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
by: Murooka, Masaki, et al.
Published: (2025)

AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility
by: Xiao, Wenli, et al.
Published: (2024)

Agile Mobility with Rapid Online Adaptation via Meta-learning and Uncertainty-aware MPPI
by: Kalaria, Dvij, et al.
Published: (2024)

RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation
by: Cheng, Jin, et al.
Published: (2025)

AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learning
by: Zhao, Huihua, et al.
Published: (2026)

DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
by: Fu, Yuhui, et al.
Published: (2025)

Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models
by: Taouil, Ilyass, et al.
Published: (2025)

ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
by: Sun, Wandong, et al.
Published: (2025)

DrEureka: Language Model Guided Sim-To-Real Transfer
by: Ma, Yecheng Jason, et al.
Published: (2024)

Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
by: Maddukuri, Abhiram, et al.
Published: (2025)

EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
by: Shi, Modi, et al.
Published: (2026)

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
by: Shi, Haochen, et al.
Published: (2025)

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