Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

8 April 2024

Xinyang Gu

Papers citing "Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer"

34 / 34 papers shown

Title
JAEGER: Dual-Level Humanoid Whole-Body Controller Ziluo Ding Haobin Jiang Yuxuan Wang Zhenguo Sun Yu Zhang Xiaojie Niu M. Yang Weishuai Zeng Xinrun Xu Zongqing Lu 13 0 0 10 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 19 0 0 09 May 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 73 2 0 26 Apr 2025
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning Jiyuan Shi Xinzhe Liu Dewei Wang Ouyang Lu Sören Schwertfeger Fuchun Sun Chenjia Bai X. Li 44 0 0 19 Apr 2025
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain Fangcheng Jin Yuqi Wang Peixin Ma Guodong Yang Pan Zhao En Li Zhengtao Zhang 26 0 0 14 Apr 2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 23 0 0 11 Apr 2025
PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion Haodong Huang Shilong Sun Zida Zhao Hailin Huang Changqing Shen Wenfu Xu 21 0 0 08 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 43 0 0 01 Apr 2025
VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots Fu Chen Rui Wan Peidong Liu Nanxing Zheng Bo Zhou 42 0 0 10 Mar 2025
QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment Yuyou Zhang Yihang Yao Shiqi Liu Yaru Niu Changyi Lin Yuxiang Yang Wenhao Yu Tingnan Zhang Jie Tan Ding Zhao 35 0 0 06 Mar 2025
OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework Jingyu Song Haoyu Ma Onur Bagoren A. Sethuraman Yiting Zhang Katherine A. Skinner 33 0 0 03 Mar 2025
Impact of Static Friction on Sim2Real in Robotic Reinforcement Learning Xiaoyi Hu Qiao Sun Bailin He Haojie Liu Xueyi Zhang Chunpeng lu Jiangwei Zhong 35 0 0 03 Mar 2025
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li K. Jia Guiliang Liu 31 0 0 02 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 55 0 0 02 Mar 2025
HiFAR: Multi-Stage Curriculum Learning for High-Dynamics Humanoid Fall Recovery Penghui Chen Yushi Wang Changsheng Luo Wenhan Cai Mingguo Zhao 69 2 0 27 Feb 2025
Think on your feet: Seamless Transition between Human-like Locomotion in Response to Changing Commands Huaxing Huang Wenhao Cui Tonghe Zhang Shengtao Li Jinchao Han ... Chenxu Hu Ning Yan Jiahao Chen Shipu Zhang Zheyuan Jiang 54 1 0 26 Feb 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 34 1 0 24 Feb 2025
Learning Humanoid Locomotion with World Model Reconstruction Wandong Sun L. Chen Yongbo Su Baoshi Cao Yang Liu Zongwu Xie 48 1 0 22 Feb 2025
A Large Recurrent Action Model: xLSTM enables Fast Inference for Robotics Tasks Thomas Schmied Thomas Adler Vihang Patil M. Beck Korbinian Poppel Johannes Brandstetter G. Klambauer Razvan Pascanu Sepp Hochreiter 61 4 0 21 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Ziwen Zhuang Hang Zhao 41 4 0 03 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi Weizhuo Wang Shuran Song C. Karen Liu 43 2 0 02 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 37 5 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 85 5 0 18 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Z. Wang Tao Huang Ping Luo Jiangmiao Pang 64 18 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 K. Sreenath Saurabh Gupta Xue Bin Peng 45 10 0 15 Oct 2024
Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning Xinming Zhang Xianghui Wang Lerong Zhang Guodong Guo Xiaoyu Shen Wei Zhang 13 0 0 25 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 21 2 0 13 Sep 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 23 34 0 26 Aug 2024
MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion Qi Liu Jingxiang Guo Sixu Lin Shuaikang Ma Jinxuan Zhu Yanjie Li 24 0 0 25 Aug 2024
RobocupGym: A challenging continuous control benchmark in Robocup Michael Beukman Branden Ingram Geraud Nangue Tasse Benjamin Rosman Pravesh Ranchod OffRL 40 1 0 03 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 27 35 0 15 Jun 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell K. Sreenath Jitendra Malik LM&Ro 25 61 0 29 Feb 2024
Adapting Rapid Motor Adaptation for Bipedal Robots Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak K. Sreenath Jitendra Malik 50 61 0 30 May 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 108 535 0 24 Sep 2021