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Main Authors:	Liu, Songyang, Yao, Shunyu, Huang, Dingyuan, Li, Shuai
Format:	Preprint
Published:	2026
Subjects:	Robotics Machine Learning
Online Access:	https://arxiv.org/abs/2606.00252
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Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
by: Zhao, Zhenyu, et al.
Published: (2025)

OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
by: Li, Jinhan, et al.
Published: (2024)

Dexterous Manipulation through Imitation Learning: A Survey
by: An, Shan, et al.
Published: (2025)

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)

TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control
by: Zhuang, Zifeng, et al.
Published: (2025)

Effective Tuning Strategies for Generalist Robot Manipulation Policies
by: Zhang, Wenbo, et al.
Published: (2024)

Coordinated Humanoid Manipulation with Choice Policies
by: Qi, Haozhi, et al.
Published: (2025)

A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
by: Drolet, Michael, et al.
Published: (2024)

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

FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation
by: Zhang, Xianqi, et al.
Published: (2025)

Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation
by: Pan, Cheng, et al.
Published: (2025)

SPECI: Skill Prompts based Hierarchical Continual Imitation Learning for Robot Manipulation
by: Xu, Jingkai, et al.
Published: (2025)

The Art of Imitation: Learning Long-Horizon Manipulation Tasks from Few Demonstrations
by: von Hartz, Jan Ole, et al.
Published: (2024)

Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
by: Welte, Edgar, 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)

Contractive Dynamical Imitation Policies for Efficient Out-of-Sample Recovery
by: Abyaneh, Amin, et al.
Published: (2024)

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

PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning
by: Gao, Tian, et al.
Published: (2024)

BEAC: Imitating Complex Exploration and Task-oriented Behaviors for Invisible Object Nonprehensile Manipulation
by: Tahara, Hirotaka, et al.
Published: (2025)

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
by: Li, Jialong, et al.
Published: (2025)

One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation
by: Zhang, Xinyu, et al.
Published: (2024)

HumanPlus: Humanoid Shadowing and Imitation from Humans
by: Fu, Zipeng, et al.
Published: (2024)

Generalizable Humanoid Manipulation with 3D Diffusion Policies
by: Ze, Yanjie, et al.
Published: (2024)

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains
by: Wu, Feiyang, et al.
Published: (2024)

ConceptACT: Episode-Level Concepts for Sample-Efficient Robotic Imitation Learning
by: Karalus, Jakob, et al.
Published: (2026)

CAPS: Context-Aware Priority Sampling for Enhanced Imitation Learning in Autonomous Driving
by: Mirkhani, Hamidreza, et al.
Published: (2025)

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

STRIDE: Automating Reward Design, Deep Reinforcement Learning Training and Feedback Optimization in Humanoid Robotics Locomotion
by: Wu, Zhenwei, et al.
Published: (2025)

SENSOR: Imitate Third-Person Expert's Behaviors via Active Sensoring
by: Huang, Kaichen, et al.
Published: (2024)

Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning
by: Hejna, Joey, et al.
Published: (2024)

An Imitative Reinforcement Learning Framework for Pursuit-Lock-Launch Missions
by: Li, Siyuan, et al.
Published: (2024)

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

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

SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation
by: Zhang, Junjie, et al.
Published: (2024)

ChicGrasp: Imitation-Learning based Customized Dual-Jaw Gripper Control for Delicate, Irregular Bio-products Manipulation
by: Davar, Amirreza, et al.
Published: (2025)

SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints
by: Wei, Yantong, et al.
Published: (2026)

Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation
by: Myers, Vivek, et al.
Published: (2024)

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

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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