Humanoid Locomotion as Next Token Prediction

29 February 2024

Ilija Radosavovic

Bike Zhang

Baifeng Shi

Jathushan Rajasegaran

ArXiv (abs)PDF HTML HuggingFace (29 upvotes)

Papers citing "Humanoid Locomotion as Next Token Prediction"

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Title
Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data Yixuan Pan Ruoyi Qiao L. Chen Kashyap Chitta Liang Pan ... Qingwen Bu Hao Zhao Cunyuan Zheng Ping Luo Hongyang Li 238 0 0 21 Nov 2025
Unified Multimodal Diffusion Forcing for Forceful Manipulation Zixuan Huang Huaidian Hou Dmitry Berenson DiffM 53 0 0 06 Nov 2025
PHUMA: Physically-Grounded Humanoid Locomotion Dataset Kyungmin Lee Sibeen Kim Minho Park Hyunseung Kim Dongyoon Hwang Hojoon Lee Jaegul Choo 64 1 0 30 Oct 2025
One-shot Humanoid Whole-body Motion Learning Hao Huang Geeta Chandra Raju Bethala Shuaihang Yuan Congcong Wen Anthony Tzes Yi Fang 40 0 0 29 Oct 2025
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation Zhenyu Zhao Hongyi Jing Xiawei Liu Jiageng Mao Abha Jha Hanwen Yang Rong Xue Sergey Zakharor Vitor Campagnolo Guizilini Yue Wang 88 1 0 09 Oct 2025
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning Siheng Zhao Yanjie Ze Yue Wang Chen Liu Pieter Abbeel Guanya Shi Rocky Duan 177 2 0 06 Oct 2025
CE-Nav: Flow-Guided Reinforcement Refinement for Cross-Embodiment Local Navigation Kai Yang Tianlin Zhang Zhengbo Wang Zedong Chu Xiaolong Wu Yang Cai Mu Xu 94 1 0 27 Sep 2025
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation Shaofeng Yin Yanjie Ze Hong-Xing Yu Chen Liu Jiajun Wu 141 2 0 24 Sep 2025
Boosting Embodied AI Agents through Perception-Generation Disaggregation and Asynchronous Pipeline Execution Shulai Zhang Ao Xu Quan Chen Han Zhao Weihao Cui Ningxin Zheng H. Lin Xin Liu Minyi Guo 64 0 0 11 Sep 2025
Deep Sensorimotor Control by Imitating Predictive Models of Human Motion Himanshu Gaurav Singh Pieter Abbeel Jitendra Malik Antonio Loquercio 72 0 0 26 Aug 2025
LookOut: Real-World Humanoid Egocentric Navigation Boxiao Pan Adam W. Harley Chenxi Liu Leonidas Guibas EgoV 201 1 0 20 Aug 2025
Keep on Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training Yang Zhang Zhanxiang Cao Buqing Nie Haoyang Li Zhong Jiangwei Qiao Sun Xiaoyi Hu Xiaokang Yang Yue Gao AAML 76 1 0 11 Jul 2025
GMT: General Motion Tracking for Humanoid Whole-Body Control Zixuan Chen Mazeyu Ji Xuxin Cheng Xuanbin Peng Xue Bin Peng Xiaolong Wang 191 30 0 17 Jun 2025
From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots Yuxuan Wang Ming Yang Ziluo Ding Yu Zhang Weishuai Zeng Haobin Jiang Haobin Jiang Zongqing Lu 244 6 0 15 Jun 2025
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending Yuxuan Kuang Haoran Geng Amine Elhafsi Tan-Dzung Do Pieter Abbeel Jitendra Malik Marco Pavone Yue Wang 168 5 0 11 Jun 2025
Rodrigues Network for Learning Robot Actions Jialiang Zhang Haoran Geng Yang You Congyue Deng Pieter Abbeel Jitendra Malik Leonidas Guibas AI4CE 221 0 0 03 Jun 2025
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control Haoyu Zhao Sixu Lin Qingwei Ben Minyue Dai Hao Fei Jingbo Wang Hua Zou Junting Dong 207 2 0 26 May 2025
One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion Yahao Fan Tianxiang Gui Kaiyang Ji Shutong Ding C. Zhang Jiayuan Gu Jingyi Yu Jingya Wang Ye-ling Shi VGen 296 2 0 24 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong Koushil Sreenath Yang Gao 217 19 0 12 May 2025
JAEGER: Dual-Level Humanoid Whole-Body Controller Haobin Jiang Haobin Jiang Yuxuan Wang Zhenguo Sun Yu Zhang Xiaojie Niu M. Yang Ziluo Ding Weishuai Zeng Zongqing Lu 242 0 0 10 May 2025
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang Chung Min Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 1.1K 31 0 06 May 2025
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning Jiyuan Shi Xinzhe Liu Dewei Wang Ouyang Lu Sören Schwertfeger Fuchun Sun Fuchun Sun Xiaochen Li Xuelong Li 333 12 0 19 Apr 2025
FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation Xianqi Zhang Hongliang Wei Wenrui Wang Xingtao Wang Xiaopeng Fan Debin Zhao 179 1 0 28 Mar 2025
Reconstructing Humans with a Biomechanically Accurate SkeletonComputer Vision and Pattern Recognition (CVPR), 2025 Yan Xia Xiaowei Zhou E. Vouga Qixing Huang Georgios Pavlakos 3DH 193 4 0 27 Mar 2025
LATTE-MV: Learning to Anticipate Table Tennis Hits from Monocular VideosComputer Vision and Pattern Recognition (CVPR), 2025 Daniel Etaat Dvij Kalaria Nima Rahmanian S. Shankar Sastry 182 4 0 26 Mar 2025
Direct Post-Training Preference Alignment for Multi-Agent Motion Generation Models Using Implicit Feedback from Pre-training DemonstrationsInternational Conference on Learning Representations (ICLR), 2025 Ran Tian Kratarth Goel 230 4 0 25 Mar 2025
HOIGPT: Learning Long Sequence Hand-Object Interaction with Language ModelsComputer Vision and Pattern Recognition (CVPR), 2025 Mingzhen Huang Fu-Jen Chu Bugra Tekin Kevin J. Liang Haoyu Ma ... Hongfei Xue Siwei Lyu Kris Kitani Matt Feiszli Hao Tang VLM 228 10 0 24 Mar 2025
Physical Plausibility-aware Trajectory Prediction via Locomotion EmbodimentComputer Vision and Pattern Recognition (CVPR), 2025 Hiromu Taketsugu Takeru Oba Takahiro Maeda Shohei Nobuhara Norimichi Ukita 247 7 0 21 Mar 2025
Understanding the Generalization of In-Context Learning in Transformers: An Empirical StudyInternational Conference on Learning Representations (ICLR), 2025 Xingxuan Zhang Haoran Wang Jiansheng Li Yuan Xue Shikai Guan Renzhe Xu Hao Zou Han Yu Peng Cui 151 5 0 19 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2024 Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 453 1 0 13 Mar 2025
Natural Humanoid Robot Locomotion with Generative Motion Prior Haodong Zhang Liang Zhang Zheyu Chen Lu Chen Yanjie Wang R. Xiong 246 5 0 13 Mar 2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds Dikai Liu Tianwei Zhang Jianxiong Yin Simon See OffRL 268 0 0 12 Mar 2025
Trinity: A Modular Humanoid Robot AI System Jingkai Sun Qiang Zhang Gang Han Wen Zhao Zhe Yong Yan He Jiaxu Wang Jiahang Cao Yijie Guo Zhanchen Zhu 180 3 0 11 Mar 2025
Safe LLM-Controlled Robots with Formal Guarantees via Reachability Analysis Ahmad Hafez Alireza Naderi Akhormeh Amr Hegazy Amr Alanwar 200 3 0 05 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 322 8 0 02 Mar 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 222 5 0 22 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 351 26 0 17 Feb 2025
Poly-Autoregressive Prediction for Modeling InteractionsComputer Vision and Pattern Recognition (CVPR), 2025 Neerja Thakkar Tara Sadjadpour Jathushan Rajasegaran Shiry Ginosar Jitendra Malik 174 1 0 12 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 231 12 0 03 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yujiao Shi Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 497 96 0 03 Feb 2025
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 265 15 0 23 Dec 2024
Learning from Massive Human Videos for Universal Humanoid Pose Control Jiageng Mao Siheng Zhao Siqi Song Tianheng Shi Junjie Ye Mingtong Zhang Haoran Geng Jitendra Malik Vitor Campagnolo Guizilini Yue Wang 283 21 0 18 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal ModelIEEE International Conference on Robotics and Automation (ICRA), 2024 Junfeng Long Junli Ren Moji Shi Liang Luo Tao Huang Ping Luo Jiangmiao Pang 320 52 0 21 Nov 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu Koushil Sreenath Saurabh Gupta Xue Bin Peng 307 37 0 15 Oct 2024
Boosting Camera Motion Control for Video Diffusion Transformers Soon Yau Cheong Duygu Ceylan Armin Mustafa Andrew Gilbert C. Huang DiffM VGen 198 13 0 14 Oct 2024
Learning Humanoid Locomotion over Challenging Terrain Ilija Radosavovic Sarthak Kamat Trevor Darrell Jitendra Malik 134 30 0 04 Oct 2024
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained TransformersNeural Information Processing Systems (NeurIPS), 2024 Lirui Wang Xinlei Chen Jialiang Zhao Kaiming He 205 100 0 30 Sep 2024
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Fukang Liu Zhaoyuan Gu Y. Cai Ziyi Zhou Hyunyoung Jung ... Shijie Zhao Sehoon Ha Yue Chen Danfei Xu Ye Zhao 448 28 0 30 Sep 2024
AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive MobilityIEEE International Conference on Robotics and Automation (ICRA), 2024 Wenli Xiao Haoru Xue Tony Tao Dvij Kalaria John M. Dolan Guanya Shi 136 15 0 24 Sep 2024
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style AnnealingIEEE International Conference on Robotics and Automation (ICRA), 2024 Haoru Xue Chaoyi Pan Zeji Yi Guannan Qu Guanya Shi 183 46 0 23 Sep 2024

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Humanoid Locomotion as Next Token Prediction

Papers citing "Humanoid Locomotion as Next Token Prediction"