Awesome Humanoid Manipulation

January 3, 2026 · View on GitHub

Awesome Humanoid Manipulation

A curated list of awesome papers and resources on Humanoid Manipulation.

News

2025/12/10 We release the repo "Awesome-Humanoid-Manipulation", collecting recent papers on humanoid manipulation! Contributions are welcome!

Overview

We use the following tags to categorize each paper:

Tag Type	Examples
Method
Input
Task
Feature
Resource

Awesome Humanoid Manipulation

Loco-Manipulation

[1] VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation, arXiv 2025.

[Paper]

BibTex

@article{viral2025,
  title={VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation},
  author={Authors},
  journal={arXiv preprint arXiv:2511.15200},
  year={2025}
}

[2] FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation, arXiv 2025.

[Paper] [Project]

BibTex

@article{falcon2025,
  title={FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation},
  author={Authors},
  journal={arXiv preprint arXiv:2505.06776},
  year={2025}
}

[3] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{omnih2o2024,
  title={OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning},
  author={Authors},
  journal={arXiv preprint arXiv:2406.08858},
  year={2024}
}

[4] HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, arXiv 2025.

[Paper] [Project] [Code]

BibTex

@article{homie2025,
  title={HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit},
  author={Authors},
  journal={arXiv preprint arXiv:2502.13013},
  year={2025}
}

[5] DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion, arXiv 2025.

Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara, Sangkyung Kwak, Sarthak Bhagat, Shankar Sastry, Srinath Sridhar, Sai Vemprala, Ashish Kapoor, Jonathan Chung-Kuan Huang.

[Paper] [Project]

BibTex

@article{kalaria2025dreamcontrol,
  title={DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion},
  author={Kalaria, Dvij and Harithas, Sudarshan S and Katara, Pushkal and Kwak, Sangkyung and Bhagat, Sarthak and Sastry, Shankar and Sridhar, Srinath and Vemprala, Sai and Kapoor, Ashish and Huang, Jonathan Chung-Kuan},
  journal={arXiv preprint arXiv:2509.14353},
  year={2025}
}

[6] HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments, arXiv 2025.

Chenhui Dong, Haozhe Xu, Wenhao Feng, Zhipeng Wang, Yanmin Zhou, Yifei Zhao, Bin He.

[Paper]

BibTex

@article{dong2025hafo,
  title={HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments},
  author={Dong, Chenhui and Xu, Haozhe and Feng, Wenhao and Wang, Zhipeng and Zhou, Yanmin and Zhao, Yifei and He, Bin},
  journal={arXiv preprint arXiv:2511.20275},
  year={2025}
}

[7] VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation, arXiv 2025.

Shaofeng Yin, Yanjie Ze, Hong-Xing Yu, C. Karen Liu, Jiajun Wu.

[Paper] [Project]

BibTex

@article{yin2025visualmimic,
  title={VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation},
  author={Yin, Shaofeng and Ze, Yanjie and Yu, Hong-Xing and Liu, C. Karen and Wu, Jiajun},
  journal={arXiv preprint arXiv:2509.20322},
  year={2025}
}

[8] HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos, arXiv 2025.

[Paper] [Project]

BibTex

@article{hdmi2025,
  title={HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos},
  journal={arXiv preprint arXiv:2509.16757},
  year={2025}
}

[9] ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning, arXiv 2025.

[Paper] [Project]

BibTex

@article{resmimic2025,
  title={ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning},
  journal={arXiv preprint arXiv:2510.05070},
  year={2025}
}

[10] HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation, arXiv 2025.

[Paper]

BibTex

@article{hmc2025,
  title={HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation},
  journal={arXiv preprint arXiv:2511.14756},
  year={2025}
}

[11] Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining, arXiv 2025.

[Paper] [Project]

BibTex

@article{human2locoman2025,
  title={Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining},
  journal={arXiv preprint arXiv:2506.16475},
  year={2025}
}

[12] Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation, OpenReview 2025.

[Paper] [Project]

BibTex

@article{guidedrl2025,
  title={Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation},
  year={2025}
}

[13] M2Diffuser: Diffusion-based Trajectory Optimization, IEEE 2025.

[Paper] [Project]

BibTex

@article{m2diffuser2025,
  title={M2Diffuser: Diffusion-based Trajectory Optimization},
  year={2025}
}

[14] WildLMa: Long Horizon Loco-Manipulation in the Wild, arXiv 2024.

[Paper] [Project]

BibTex

@article{wildlma2024,
  title={WildLMa: Long Horizon Loco-Manipulation in the Wild},
  journal={arXiv preprint arXiv:2411.15131},
  year={2024}
}

[15] HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation, arXiv 2025.

[Paper] [Project]

BibTex

@article{hermes2025,
  title={HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation},
  journal={arXiv preprint arXiv:2508.20085},
  year={2025}
}

[16] In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data, arXiv 2025.

[Paper] [Project]

BibTex

@article{innon2025,
  title={In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data},
  journal={arXiv preprint arXiv:2511.15704},
  year={2025}
}

[17] ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations, arXiv 2025.

[Paper]

BibTex

@article{activeumi2025,
  title={ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations},
  journal={arXiv preprint arXiv:2510.01607},
  year={2025}
}

Non-Loco-Manipulation

[1] Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{dp3_2024,
  title={Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies},
  author={Authors},
  journal={arXiv preprint arXiv:2410.10803},
  year={2024}
}

[2] EgoMimic: Scaling Imitation Learning via Egocentric Video, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{egomimic2024,
  title={EgoMimic: Scaling Imitation Learning via Egocentric Video},
  author={Authors},
  journal={arXiv preprint arXiv:2410.24221},
  year={2024}
}

[3] GR00T N1: An Open Foundation Model for Generalist Humanoid Robots, arXiv 2025.

[Paper]

BibTex

@article{groot2025,
  title={GR00T N1: An Open Foundation Model for Generalist Humanoid Robots},
  author={Authors},
  journal={arXiv preprint arXiv:2503.14734},
  year={2025}
}

[4] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{opentv2024,
  title={Open-TeleVision: Teleoperation with Immersive Active Visual Feedback},
  author={Authors},
  journal={arXiv preprint arXiv:2407.01512},
  year={2024}
}

[5] TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning, arXiv 2025.

[Paper] [Project]

BibTex

@article{trajbooster2025,
  title={TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning},
  journal={arXiv preprint arXiv:2509.11839},
  year={2025}
}

[6] Humanoid Policy ~ Human Policy, arXiv 2025.

[Paper] [Project]

BibTex

@article{humanoidpolicy2025,
  title={Humanoid Policy ~ Human Policy},
  journal={arXiv preprint arXiv:2503.13441},
  year={2025}
}

[7] MotionTrans: Human VR Data Enable Motion-Level Learning for Robotic Manipulation Policies, arXiv 2025.

[Paper]

BibTex

@article{motiontrans2025,
  title={MotionTrans: Human VR Data Enable Motion-Level Learning for Robotic Manipulation Policies},
  journal={arXiv preprint arXiv:2509.17759},
  year={2025}
}

Retargeting

[1] Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking, arXiv 2025.

Joao Pedro Araujo, Yanjie Ze, Pei Xu, Jiajun Wu, C. Karen Liu.

[Paper] [Code]

BibTex

@article{araujo2025retargeting,
  title={Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking},
  author={Araujo, Joao Pedro and Ze, Yanjie and Xu, Pei and Wu, Jiajun and Liu, C. Karen},
  journal={arXiv preprint arXiv:2510.02252},
  year={2025}
}

[2] SPIDER: Scalable Physics-Informed Dexterous Retargeting, arXiv 2025.

Chaoyi Pan, Changhao Wang, Haozhi Qi, Zixi Liu, Homanga Bharadhwaj, Akash Sharma, Tingfan Wu, Guanya Shi, Jitendra Malik, Francois Hogan.

[Paper] [Project]

BibTex

@article{pan2025spider,
  title={SPIDER: Scalable Physics-Informed Dexterous Retargeting},
  author={Pan, Chaoyi and Wang, Changhao and Qi, Haozhi and Liu, Zixi and Bharadhwaj, Homanga and Sharma, Akash and Wu, Tingfan and Shi, Guanya and Malik, Jitendra and Hogan, Francois},
  journal={arXiv preprint arXiv:2511.09484},
  year={2025}
}

[3] OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction, arXiv 2025.

Lujie Yang, Xiaoyu Huang, Zhen Wu, Angjoo Kanazawa, Pieter Abbeel, Carmelo Sferrazza, C. Karen Liu, Rocky Duan, Guanya Shi.

[Paper]

BibTex

@article{yang2025omniretarget,
  title={OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction},
  author={Yang, Lujie and Huang, Xiaoyu and Wu, Zhen and Kanazawa, Angjoo and Abbeel, Pieter and Sferrazza, Carmelo and Liu, C. Karen and Duan, Rocky and Shi, Guanya},
  journal={arXiv preprint arXiv:2509.26633},
  year={2025}
}

Whole-Body Controller

[1] ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation, arXiv 2025.

[Paper]

BibTex

@article{ulc2025,
  title={ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation},
  journal={arXiv preprint arXiv:2507.06905},
  year={2025}
}

[2] Whole-Body End-Effector Pose Tracking, IEEE 2025.

[Paper]

BibTex

@article{wbeetracking2025,
  title={Whole-Body End-Effector Pose Tracking},
  year={2025}
}

[3] Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning, arXiv 2025.

[Paper]

BibTex

@article{humanoidsurvey2025,
  title={Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning},
  journal={arXiv preprint arXiv:2501.02116},
  year={2025}
}

Human Motion Generation&Dataset

[1] Object Motion Guided Human Motion Synthesis, arXiv 2023.

Jiaman Li, Jiajun Wu, C. Karen Liu.

[Paper]

BibTex

@article{li2023object,
  title={Object Motion Guided Human Motion Synthesis},
  author={Li, Jiaman and Wu, Jiajun and Liu, C. Karen},
  journal={arXiv preprint arXiv:2309.16237},
  year={2023}
}

[2] GRAB: A Dataset of Whole-Body Human Grasping of Objects, ECCV 2020.

Omid Taheri, Nima Ghorbani, Michael J. Black, Dimitrios Tzionas.

[Paper] [Project]

BibTex

@article{taheri2020grab,
  title={GRAB: A Dataset of Whole-Body Human Grasping of Objects},
  author={Taheri, Omid and Ghorbani, Nima and Black, Michael J. and Tzionas, Dimitrios},
  journal={arXiv preprint arXiv:2008.11200},
  year={2020}
}

[3] HUMOTO: A 4D Dataset of Mocap Human Object Interactions, arXiv 2025.

Jiaxin Lu, Chun-Hao Paul Huang, Uttaran Bhattacharya, Qixing Huang, Yi Zhou.

[Paper] [Project]

BibTex

@article{lu2025humoto,
  title={HUMOTO: A 4D Dataset of Mocap Human Object Interactions},
  author={Lu, Jiaxin and Huang, Chun-Hao Paul and Bhattacharya, Uttaran and Huang, Qixing and Zhou, Yi},
  journal={arXiv preprint arXiv:2504.10414},
  year={2025}
}

[4] PICO: Reconstructing 3D People In Contact with Objects, arXiv 2025.

[Paper] [Project]

BibTex

@article{pico2025,
  title={PICO: Reconstructing 3D People In Contact with Objects},
  journal={arXiv preprint arXiv:2504.17695},
  year={2025}
}

[5] Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction, arXiv 2025.

[Paper] [Project]

BibTex

@article{open4dhoi2025,
  title={Efficient and Scalable Monocular Human-Object Interaction Motion Reconstruction},
  journal={arXiv preprint arXiv:2512.00960},
  year={2025}
}

[6] OmniControl: Control Any Joint at Any Time for Human Motion Generation, arXiv 2023.

[Paper] [Project]

BibTex

@article{omnicontrol2023,
  title={OmniControl: Control Any Joint at Any Time for Human Motion Generation},
  journal={arXiv preprint arXiv:2310.08580},
  year={2023}
}

[7] Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions, arXiv 2025.

[Paper] [Project]

BibTex

@article{mimic2dm2025,
  title={Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions},
  journal={arXiv preprint arXiv:2512.08500},
  year={2025}
}

[8] DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset, RSS 2024.

Khazatsky, Alexander and others.

[Paper] [Project]

BibTex

@inproceedings{khazatsky2024droid,
  title={DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset},
  author={Khazatsky, Alexander and others},
  booktitle={RSS},
  year={2024}
}

[9] HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{humanoidbench2024,
  title={HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation},
  author={Authors},
  journal={arXiv preprint arXiv:2403.10506},
  year={2024}
}

[10] RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{robocasa2024,
  title={RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots},
  author={Authors},
  journal={arXiv preprint arXiv:2406.02523},
  year={2024}
}

[11] Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer, arXiv 2024.

[Paper] [Project] [Code]

BibTex

@article{humanoidgym2024,
  title={Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer},
  author={Authors},
  journal={arXiv preprint arXiv:2404.05695},
  year={2024}
}

Citation

If you find this repository helpful, please consider citing:

@misc{awesome-humanoid-manipulation,
  author = {Minhao Xiong},
  title = {Awesome Humanoid Manipulation},
  year = {2025},
  publisher = {GitHub},
  howpublished = {\url{https://github.com/MinhaoXiong/Awesome-Humanoid-Manipulation}}
}

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.