VLM-Guided Contact Retargeting and Generative Partner Modeling for Humanoid-Human Interaction - 2026-10-20 - Research Publication - REACT transfers semantic contact structure from human demonstrations to humanoid interaction policies. A physical Unitree G1 performs high-fives, hugs, handshakes, pats on the back and linked-arm interactions using onboard… - source: arxiv.org
CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU - 2026-10-18 - Research Publication - CusADi2 reduces batch-computation latency by parallelizing both across and within robot-model evaluations on GPUs. The authors benchmark kinematics, Jacobians and Hessians across67 MuJoCo Menagerie robots and report lower… - source: arxiv.org
Vision as Proprioception: Estimating Humanoid Robot Pose from Video - 2026-10-18 - Research Publication - HumanoidPose estimates humanoid joint configurations and root pose from ordinary video using pretrained human-vision features and a kinematics-conditioned decoder. The ETH Zürich team trains across16 synthetic embodiments… - source: arxiv.org
Whole-Body Dexterity - 2026-10-15 - Research Publication - Whole-Body Dexterity learns to reposition objects using a humanoid’s arms and torso as contact surfaces. A simulated grasp-generation and policy-distillation pipeline transfers to physical Unitree G1 manipulation with… - source: arxiv.org
Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation - 2026-10-15 - Research Publication - Compliant GMT adds a residual reference adapter to a pretrained humanoid motion tracker. Simulation and physical Unitree G1 experiments investigate whole-body compliance, contact response and robustness to disturbances. - source: arxiv.org
CQDC-Warp: GPU-Accelerated Differentiable Quasi-Dynamic Simulation for Contact-Rich Manipulation - 2026-10-15 - Research Publication - CQDC-Warp uses GPU-batched differentiable quasi-dynamic simulation to plan contact-rich trajectories. Experiments cover dexterous-hand and whole-body models, with a limited physical replay on a Sharpa hand. - source: arxiv.org
PingpongDuo: Agile Humanoid Table Tennis Doubles with Safe Team Coordination - 2026-10-14 - Research Publication - PingpongDuo combines team-level risk-aware positioning with separate footwork and striking policies for humanoid table-tennis doubles. Physical experiments use two 29-DoF Unitree G1 robots with external motion capture and… - source: arxiv.org
KinoGen: Customizable Humanoid Loco-Manipulation References via Kinematically Grounded Video Generation - 2026-10-14 - Research Publication - KinoGen generates robot-specific humanoid motion references by conditioning video generation on calibrated renders and fitting the robot and objects back to the two-view output. Tracking policies transfer selected tasks to… - source: arxiv.org
PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface - 2026-10-08 - Research Publication - PanTact learns humanoid whole-body manipulation from robot-free human demonstrations collected with contact patches, egocentric vision and bimanual UMI grippers. A policy predicts contact goals and a whole-body controller… - source: arxiv.org
Being-M0.7: A Latent World-Action Model for Humanoid Robots - 2026-10-08 - Research Publication - Being-M0.7 transfers visual-motion priors from over 10,000 hours of raw human-centric data to humanoid control through pre-training, robot mid-training and action post-training. The study reports 71.1% success over 180… - source: arxiv.org
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data - 2026-10-06 - Research Publication - Workhorse learns autonomous humanoid locomotion and manipulation from robot-free human demonstrations, combining a visual planner with a reinforcement-learning tracker. - source: arxiv.org
Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture - 2026-10-05 - Research Publication - OCLO learns compliant humanoid locomotion and manipulation without human-motion datasets. On Unitree G1, two hand controllers direct end-effector targets while the system adjusts posture and balance under external forces. - source: arxiv.org
InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation - 2026-10-05 - Research Publication - InterMimicGen couples humanoid motion references with a learned tracker in an iterative data-generation loop. It retargets human-object interactions to several embodiments and demonstrates selected motions on physical G1… - source: arxiv.org
Physical Self-Play - 2026-09-23 - Research Publication - A scoring-only self-play objective produced dribbling, shielding, tackling and recovery behaviours after 140 simulated years of play in NVIDIA Isaac Sim. - source: skild.ai
ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots - 2026-09-16 - Research Publication - A Unitree G1 closes doors using onboard depth and proprioception without reference motion or intermediate commands at deployment. - source: arxiv.org
Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions - 2026-09-15 - Research Publication - Weave retargets human-object interactions to train a contact-aware whole-body humanoid policy controlling 29 body and 12 finger joints. It reports 92.5% success on trained interactions and 65% on unseen sequences. - source: arxiv.org
UnifoLM-WLA-1.0: A Generalist Robot Policy for Whole-body Interactive Autonomy - 2026-09-10 - Research Publication - Unitree presents UnifoLM-WLA-1.0 as a 6-billion-parameter embodied foundation model trained on approximately 2,500 hours of real-robot data. The company reports one model covering 54 tabletop tasks and 10 whole-body… - source: unigen-x.github.io
Towards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking - 2026-08-20 - Research Publication - AdaPT learns tennis rallying and serving styles from video and motion capture, adapting motion timing to reduce tracking errors. Physical experiments use Unitree G1 and Dobot Atom P3; the public code release covers… - source: arxiv.org
HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction - 2026-08-17 - Research Publication - A large public motion and interaction dataset evaluated on Unitree G1. - source: arxiv.org
GigaBrain-0.7: Scaling Embodied Foundation Models to Emergent Capabilities with a Three-System Architecture - 2026-08-16 - Research Publication - GigaBrain-0.7 combines action control, understanding and planning, and world-model prediction in a three-system embodied model. GigaAI reports training on over 37,000 hours of heterogeneous data and physical evaluation on… - source: arxiv.org
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball - 2026-07-30 - Research Publication - A physical Unitree G1 dodged seeded ball throws using onboard perception, with 95% success in the reported benchmark. - source: arxiv.org
Learning Reusable Hybrid Motion Priors for Humanoid Locomotion from Motion Imitation - 2026-07-27 - Research Publication - A zero-shot G1 deployment walked, sidestepped and turned while tracking commanded velocity. - source: arxiv.org
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids - 2026-07-22 - Research Publication - A G1-Edu using GR00T N1.6 was evaluated on real supermarket chip restocking after data-efficient post-training. - source: arxiv.org
What Matters in Humanoid General Motion Tracking? An Empirical Study - 2026-07-22 - Research Publication - Physical G1 tests demonstrate diverse motion tracking, perturbation resistance and forceful interaction. - source: arxiv.org
Learning Adaptive Safety Margins for Visual Navigation - 2026-07-20 - Research Publication - A simulation-trained safety-margin selector transferred to G1 and navigated cluttered indoor scenes without task-specific tuning. - source: arxiv.org
Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation - 2026-07-20 - Research Publication - POT-VLA reached 71 of 80 successes across eight real-world Unitree G1 task families. - source: arxiv.org
Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control - 2026-07-15 - Research Publication - A physical G1 followed music-selected whole-body policy sequences in a live validation. - source: arxiv.org
EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal - 2026-07-15 - Research Publication - EgoHTR-trained policies reproduce beam and box-up terrain motions on a physical G1. - source: arxiv.org
zengury/roboonto - 2026-07-02 - Research Publication - Machine-readable robot ontologies for LLM agents — query what a robot can do, validate actions before they touch hardware. IEEE 1872-anchored. Ships Unitree G1 & AgiBot X2 packs. - source: github.com
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation - 2026-06-30 - Research Publication - In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. - source: arxiv.org
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes - 2026-06-29 - Research Publication - Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. - source: arxiv.org
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control - 2026-06-29 - Research Publication - While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. - source: arxiv.org
TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes - 2026-06-24 - Research Publication - How do we learn to hit a tennis backhand? - source: arxiv.org
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots - 2026-06-24 - Research Publication - High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. - source: arxiv.org
RGB: RL Guided Whole-Body MPPI for Humanoid Control - 2026-06-23 - Research Publication - Humanoid robots require whole-body controllers that are both robust and precise in contact-rich environments. - source: arxiv.org
TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation - 2026-06-22 - Research Publication - Text-conditioned motion generation is a promising interface for programming humanoid robots, yet current generators are often trained on human motion datasets retargeted to robot morphologies. Although such data provides… - source: arxiv.org
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation - 2026-06-22 - Research Publication - CoorDex coordinates body and hand priors for simulated continuous humanoid loco-manipulation. Quantitative task evaluation uses G1 with WUJI hands in Isaac Lab; separate physical G1 with Dex3-1 visualizations replay… - source: arxiv.org
LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception - 2026-06-22 - Research Publication - LP-NavOA combines a range-conditioned locomotion backbone with a learned local steering interface for obstacle bypass and sparse-goal recovery. It evaluates G1 navigation in MuJoCo and separately demonstrates bounded… - source: arxiv.org
Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration - 2026-06-22 - Research Publication - CHORD learns contact-rich dexterous manipulation from human demonstrations by matching object-centric contact wrenches. It evaluates a large simulated task library and transfers selected policies to a fixed-base Dexmate… - source: arxiv.org
VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation - 2026-06-19 - Research Publication - Multi-task robot manipulation policies are challenging to learn from demonstration because traditionally a single network must select among qualitatively different action modes from a multimodal demonstration distribution… - source: arxiv.org
Duet: Dual-Robot Understanding via Efficient Teaching - 2026-06-18 - Research Publication - DUET learns dual-robot collaboration through a shared action representation and parallel control heads. Four contact-rich physical tasks pair a Unitree G1 with a Dexmate Vega1, using VR teaching and embodiment-specific… - source: arxiv.org
HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations - 2026-06-17 - Research Publication - Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. - source: arxiv.org
MagicSim: A Unified Infrastructure for Executable Embodied Interaction - 2026-06-16 - Research Publication - MagicSim proposes a shared runtime for simulated robot control, skills and planning, combining executable robot embodiments with multiple drivers. Its registry includes Unitree G1 variants and a Vega-1P mobile manipulator… - source: arxiv.org
Steering Generative Reinforcement Learning into Stable Robotic Controller - 2026-06-15 - Research Publication - Diffusion and flow-based generative policies provide a powerful policy class for reinforcement learning by inducing rich stochastic exploration through iterative action generation. - source: arxiv.org
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion - 2026-06-15 - Research Publication - Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy and stability. - source: arxiv.org
Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models - 2026-06-14 - Research Publication - Humanoid robots performing in-field manipulation tasks, such as robotic apple harvesting, face severe energy constraints that directly limit the number of reaching motions that can be executed per battery charge. This… - source: arxiv.org
Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm - 2026-06-14 - Research Publication - Accurate prediction of electrical power consumption is essential for energy-aware motion planning, battery management, and thermal monitoring in battery-powered humanoid robots. - source: arxiv.org
Whole-Body Impedance Model Predictive Control for Safe Physical Human--Robot Interaction on Floating-Base Platforms - 2026-06-12 - Research Publication - Floating-base robots must balance under rigid contact constraints while interacting safely with humans. - source: arxiv.org
FAST_LIO_LOCALIZATION_HUMANOID: Localization by LiDAR for Humanoid - 2026-06-12 - Research Publication - Open-sources a LiDAR localization stack adapted for humanoid platforms such as Unitree G1-style robots. Builds on FAST-LIO with humanoid-oriented deployment changes and ROS/C++ prerequisites. Adds practical… - source: github.com
Critic Architecture Matters: Dual vs. Unified Critics for Humanoid Loco-Manipulation - 2026-06-10 - Research Publication - Multi-objective reinforcement learning for humanoid robots must coordinate locomotion and manipulation within a single policy. - source: arxiv.org
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning - 2026-06-09 - Research Publication - Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. - source: arxiv.org
MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds - 2026-06-09 - Research Publication - Perceptive bipedal locomotion over sparse terrain remains a difficult challenge: model-based methods are precise but brittle to uncertainty, while model-free methods are robust but struggle to discover the precise… - source: arxiv.org
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation - 2026-06-08 - Research Publication - World Action Models (WAMs) couple a video dynamics prior to the policy and have shown encouraging results on tabletop manipulation, but iterative denoising over high-dimensional video-action latents leaves them too slow… - source: arxiv.org
UniReLo: Learning a Unified Humanoid Policy from Fall Recovery to Locomotion across Diverse Terrains - 2026-06-08 - Research Publication - Humanoid robots can fall on slopes, gravel, and uneven ground in unstructured environments. - source: arxiv.org
Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning - 2026-06-06 - Research Publication - Humans exhibit remarkable motor agility, enabling a wide range of dynamic skills such as running and jumping, which highlights the great potential of humanoid robots for athletic locomotion. - source: arxiv.org
Anchor Lab Dataset: Real-World Measurements for Sim-to-Real Calibration - 2026-06-05 - Research Publication - Releases a Hugging Face robotics dataset for grounding simulation calibration in real physical measurements. - source: huggingface.co
Predictive Style Matching: Natural and Robust Humanoid Locomotion - 2026-06-05 - Research Publication - Reinforcement learning has become the prevailing approach to humanoid locomotion control: policies transfer reliably from simulation to hardware and recover gracefully from disturbances. - source: arxiv.org
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers - 2026-06-04 - Research Publication - For a humanoid robot to be deployed in the real world, the choice of command space (i. - source: arxiv.org
LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World - 2026-06-03 - Research Publication - Introduces a teleoperation-free VLA fine-tuning pipeline for humanoid loco-manipulation in an embodied Gaussian Splatting world. Uses MuJoCo physics, photorealistic 3DGS backgrounds, SAM3D objects, and motion primitives to… - source: legsvla.github.io
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors - 2026-06-03 - Research Publication - Scaling humanoid loco-manipulation requires robot-compatible demonstrations across diverse objects, whole-body motions, and scene geometries, but teleoperation and motion capture are difficult to scale because each… - source: arxiv.org
Flash-WAM: Modality-Aware Distillation for World Action Models - 2026-06-03 - Research Publication - World-action models (WAMs) jointly generate future video and robot actions through iterative diffusion, achieving strong performance on manipulation benchmarks but requiring tens of denoising steps, a cost that precludes… - source: arxiv.org
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking - 2026-06-03 - Research Publication - Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomotion and loco-manipulation. - source: arxiv.org
CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation - 2026-06-03 - Research Publication - Humans primarily rely on walking and running to traverse complex terrains. - source: arxiv.org
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking - 2026-06-02 - Research Publication - Releases a GPT-style humanoid motion Transformer trained on a 2B-frame retargeted motion corpus for zero-shot motion tracking. Repository includes inference, evaluation, MuJoCo/MJX simulation, released checkpoints, and… - source: github.com
Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots - 2026-06-02 - Research Publication - Expressive whole-body motion is important for humanoid robots operating in human environments, where robots are expected to move stably while presenting readable and adjustable body behaviors. - source: arxiv.org
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots - 2026-06-02 - Research Publication - Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans… - source: arxiv.org
Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion - 2026-05-30 - Research Publication - Although reinforcement learning has significantly advanced humanoid locomotion, perceptive policies still struggle on sparse-foothold terrain and constrained environments. Success in these scenarios requires both broad… - source: arxiv.org
Gaze2Act: Gaze-Conditioned Vision-Language-Action Policies for Interactive Robot Manipulation - 2026-05-28 - Research Publication - Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent.… - source: arxiv.org
Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments - 2026-05-21 - Research Publication - Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety… - source: arxiv.org
State-dependent AMP paper unifies G1 walking, running, and fall recovery - 2026-05-18 - Research Publication - This paper covers State-dependent AMP paper unifies G1 walking, running, and fall recovery for G1 in Reinforcement learning. - source: arxiv.org
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots - 2026-05-17 - Research Publication - Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing… - source: arxiv.org
Tuesday-Labs/maya - 2026-05-13 - Research Publication - The voice and brain for Maya, an AI-powered Unitree G1 robot. - source: github.com
IMU teleoperation paper validates real-time whole-body control on Unitree G1 - 2026-05-12 - Research Publication - Stable, low-latency whole-body teleoperation of humanoid robots is an open research challenge, complicated by kinematic mismatches between human and robot morphologies, accumulated inertial sensor noise, non-trivial… - source: arxiv.org
Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion - 2026-05-11 - Research Publication - Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies… - source: arxiv.org
Constraint-Enhanced Reinforcement Learning Based on Dynamic Decoupled Spherical Radial Squashing - 2026-05-05 - Research Publication - When deploying reinforcement learning policies to physical robots, actuator rate constraints -- hard limits on how fast each joint can move per control step -- are unavoidable. - source: arxiv.org
Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion - 2026-05-02 - Research Publication - We present Action Agent, a two-stage framework that unifies agentic navigation video generation with flow-constrained diffusion control for multi-embodiment robot navigation. In Stage I, a large language model (LLM) acts… - source: arxiv.org
Foundation-model grasping pipeline streams commands to Unitree G1 - 2026-04-19 - Research Publication - Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model training. - source: arxiv.org
Whole-body locomotion paper deploys terrain-aware motion generation on Unitree G1 - 2026-04-19 - Research Publication - Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. - source: arxiv.org
Renforce-Dynamics/TableTennis_Deploy - 2026-04-17 - Research Publication - This repository is for deploying table tennis skills on the Unitree G1 robot. It is derived from the "RoboMimic_Deploy" repository and includes related skills from the original project. - source: github.com
CLAW: Composable Language-Annotated Whole-body Motion Generation - 2026-04-13 - Research Publication - Training language-conditioned whole-body controllers for humanoid robots demands large-scale motion-language datasets. - source: arxiv.org
FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control - 2026-04-06 - Research Publication - FlashSAC scales off-policy reinforcement learning with larger networks, high-throughput data and bounded optimization norms. It benchmarks diverse simulation tasks and transfers blind locomotion policies to a physical… - source: arxiv.org
LefferTrochez/Sim2Real-Control-Framework-for-Unitree-G1-Simulink-ROS2-MuJoCo - 2026-04-03 - Research Publication - A MATLAB/Simulink-based Sim2Real framework for the Unitree G1 humanoid robot, integrating MuJoCo and ROS 2 in a unified workflow for controller development, simulation, visualization, and real-robot deployment. - source: github.com
Learning Humanoid Navigation from Human Data - 2026-04-01 - Research Publication - We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or finetuning. - source: arxiv.org
NVIDIA releases synthetic G1 Locomanipulation Dataset v1 - 2026-04-01 - Research Publication - This dataset covers NVIDIA releases synthetic G1 Locomanipulation Dataset v1 for G1 in dexterity. - source: huggingface.co
Jiarui-Xie/AMP_Running_baseline - 2026-04-01 - Research Publication - Locomotion training codebase for Unitree G1 competing in the 2026 Beijing Yizhuang Half Marathon Robot Race. Built on Isaac Lab with Adversarial Motion Priors (AMP), motion imitation, and hardware-ready deployment. - source: github.com
SMASH: Humanoid Table Tennis with Egocentric Vision - 2026-04-01 - Research Publication - SMASH demonstrates consecutive table-tennis strikes using onboard vision and learned whole-body control. - source: arxiv.org
Unitree expands the UnifoLM_G1_Dex1_Dataset collection for G1 dexterous manipulation - 2026-03-31 - Research Publication - Unitree published an expanded UnifoLM_G1_Dex1_Dataset collection on Hugging Face for the G1 platform, grouping multiple dexterous manipulation datasets under a single first-party release. - source: huggingface.co
Active stereo-camera study benchmarks sensor mixes on Unitree G1 - 2026-03-30 - Research Publication - The complexity of teaching humanoid robots new tasks is one of the major reasons hindering their widespread adoption in the industry. - source: arxiv.org
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running - 2026-03-26 - Research Publication - The paper combines dynamic retargeting with control-guided reinforcement learning for performant, controllable humanoid running. Hardware experiments deploy the policy on Unitree G1 and report running speeds up to 3. - source: arxiv.org
Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control - 2026-03-23 - Research Publication - Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottleneck. - source: arxiv.org
AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learning - 2026-03-20 - Research Publication - Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. - source: arxiv.org
alexzh3/OpenHumanoid - 2026-03-20 - Research Publication - OpenHumanoid provides voice-controlled locomotion for a Unitree G1 humanoid robot. Won 2nd place at ETH Robotics Club hackathon. - source: github.com
maedmatt/DreamMotion - 2026-03-19 - Research Publication - LLM agent that generates Unitree G1 humanoid robot motions from natural language. - source: github.com
ECHO paper runs language-to-motion whole-body control on Unitree G1 - 2026-03-17 - Research Publication - We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. - source: arxiv.org
nv-tlabs/kimodo - 2026-03-16 - Research Publication - Official implementation of Kimodo, a kinematic motion diffusion model for high-quality human(oid) motion generation. - source: github.com
sesteban951/deploy_robot - 2026-03-16 - Research Publication - Deploy code for the Unitree G1 robot. - source: github.com
LATENT deploys learned humanoid tennis skills on Unitree G1 - 2026-03-13 - Research Publication - Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. - source: arxiv.org
InterReal - 2026-03-12 - Research Publication - Presents a paper on a framework for learning human-object interaction (HOI) skills in robots. Facilitates tracking of reference motions for humanoid robots, improving fine-grained interactive skill learning. Enables… - source: arxiv.org
Psi0: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation - 2026-03-12 - Research Publication - Psi0 separates human-video representation learning from humanoid action learning and evaluates eight long-horizon loco-manipulation tasks on physical Unitree G1. - source: arxiv.org
ZeroWBC learns natural whole-body control for Unitree G1 directly from egocentric human video - 2026-03-10 - Research Publication - Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. - source: arxiv.org
Cross-Hand Latent Representation for Vision-Language-Action Models - 2026-03-10 - Research Publication - XL-VLA evaluates a physical PaXini DexH13 in real-world bimanual xArm experiments spanning ten manipulation tasks. Across ten trials per task, the reported DexH13 mean success rate is 0.78 versus 0.35 for the direct-action… - source: arxiv.org
Unitree releases the UnifoLM_WBT_Dataset for humanoid whole-body teleoperation - 2026-03-05 - Research Publication - Unitree publicly released the UnifoLM_WBT_Dataset as a real-world humanoid whole-body teleoperation dataset through its Hugging Face collection. - source: huggingface.co
Rhythm deploys dual-humanoid interactive whole-body control on Unitree G1 robots - 2026-03-03 - Research Publication - Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. - source: arxiv.org
ULTRA paper demonstrates autonomous whole-body loco-manipulation on Unitree G1 - 2026-03-03 - Research Publication - Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. - source: arxiv.org
adrialemany/g1man - 2026-03-02 - Research Publication - Controlling the Unitree G1 robot in a simple way, using a UI, or scripts. Manipulation, pointcloud and simulation - source: github.com
heyjiacheng/teleoperate_G1 - 2026-03-02 - Research Publication - A guide to teleoperate unitree G1 robot in RPL Lab. - source: github.com
Humanoid Robots as First Assistants in Endoscopic Surgery - 2026-02-27 - Research Publication - Humanoid robots have become a focal point of technological ambition, with claims of surgical capability within years in mainstream discourse. - source: arxiv.org
physical-superintelligence-lab/Psi0 - 2026-02-27 - Research Publication - [RSS26'] Welcome to Psi-Zero, a Humanoid VLA towards Universal Humanoid Intelligence. - source: github.com
ozkannceylan/humanoid_vla - 2026-02-26 - Research Publication - End-to-end VLA humanoid robot in MuJoCo: ACT model on Unitree G1 with ROS 2 NL interface and OOD generalization study. - source: github.com
UAI-BIOARABA/saaki-ros2-yolo - 2026-02-25 - Research Publication - Unitree G1 - Object detection with YOLO and ROS2 for the real robot. - source: github.com
experientialtech/g1-moves - 2026-02-23 - Research Publication - Motion capture clips for Unitree G1 humanoid robot - source: github.com
z4ziggy/z4rtc - 2026-02-19 - Research Publication - A full-featured command-line controller for the Unitree G1/Go2 robots, using WebRTC. - source: github.com
Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching - 2026-02-17 - Research Publication - While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. - source: arxiv.org
uleroboticsgroup/rl_hnav - 2026-02-14 - Research Publication - Modular ROS 2 workspace for hybrid navigation of Unitree G1: RL locomotion (MuJoCo), SLAM, Nav2, TF bridging, and real robot deployment. - source: github.com
shivangvijay/Deep-Skill-Graph-Based-Humanoid-Navigation-DSG-HN - 2026-02-13 - Research Publication - We propose extending DSG-style skill-graph planning to a high-DoF humanoid robot (Unitree G1) in structured indoor environments. Our objective is to evaluate whether graph-based abstraction scales to dynamically… - source: github.com
APEX learns adaptive high-platform traversal on a 29-DoF Unitree G1 - 2026-02-11 - Research Publication - Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. - source: arxiv.org
Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control - 2026-02-03 - Research Publication - Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. - source: arxiv.org
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control - 2026-02-03 - Research Publication - While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. - source: arxiv.org
NPCLEI/KungFuAthleteBot - 2026-02-02 - Research Publication - A highly dynamic martial arts motion dataset (848 samples, Ground/Jump subsets) for humanoid robots, with GMR retargeting, height adjustment, and RL training pipeline (PPO & FastSAC) for Unitree G1, featuring fall recovery… - source: github.com
Aseke314/unitree-g1-navigation - 2026-02-01 - Research Publication - Autonomous navigation for Unitree G1 humanoid robot in MuJoCo using RL policy and virtual lidar - source: github.com
Uvesh-patel/unitree-g1-docker-sdk - 2026-01-23 - Research Publication - Ready-to-use Docker environment for Unitree G1 humanoid robot development. Includes Python SDK, Cyclone DDS, and examples. Works on Windows and macOS. - source: github.com
HumanoidVLM uses Unitree G1 for vision-language-guided impedance control research - 2026-01-21 - Research Publication - Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. - source: arxiv.org
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions - 2026-01-19 - Research Publication - Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. - source: arxiv.org
TWIST2 - 2026-01-03 - Research Publication - Releases a repository for a humanoid data collection system designed for teleoperation with Unitree G1. Facilitates real and simulated control through various scripts and integration with a VR headset. Supports sim-to-real… - source: github.com
NVIDIA GR00T N1.6 humanoid foundation model - 2025-12-15 - Research Publication - NVIDIA Research published GR00T N1.6 as an improved foundation model for generalist humanoid robots. The page describes long-horizon reasoning, dexterity, and multitasking experiments on bimanual YAM, Agibot Genie-1, and… - source: research.nvidia.com
From Generated Human Videos to Physically Plausible Robot Trajectories - 2025-12-04 - Research Publication - Ships a pipeline that maps generated RGB video into 4D human reconstruction, retargeted humanoid keypoints, and IsaacGym policy execution on G1. Belongs to human-video to robot trajectory transfer. Matters because it… - source: arxiv.org
kairos-agi/kairos - 2025-12-02 - Research Publication - Official code for world model Kairos - source: github.com
Modality-Augmented Fine-Tuning of Foundation Robot Policies for Cross-Embodiment Manipulation on GR1 and G1 - 2025-12-01 - Research Publication - This simulation study augments GR00T policies with contact and depth signals across Fourier GR1 and Unitree G1 embodiments. It uses RoboSuite/RoboCasa rollouts and releases simulated G1 apple-to-bowl demonstrations with… - source: arxiv.org
METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Model - 2025-11-21 - Research Publication - METIS combines multi-source egocentric action data with motion-aware dynamics and reasoning for dexterous manipulation. Physical tests use Unitree G1 with Inspire hands. - source: arxiv.org
amazon-far/holosoma - 2025-11-13 - Research Publication - with algorithms like PPO and FastSAC. ## Features - **Multi-simulator support**: IsaacGym, IsaacSim, MuJoCo Warp (MJWarp), and MuJoCo (inference only) - **Multiple RL algorithms**: PPO and FastSAC - **Robot support**… - source: github.com
Layered-control architecture paper demonstrates robust stairs and ledges on Unitree G1 - 2025-10-16 - Research Publication - This paper covers Layered-control architecture paper demonstrates robust stairs and ledges on Unitree G1 for G1 in Reinforcement learning. - source: arxiv.org
DemoHLM shows generalizable loco-manipulation on Unitree G1 from a single simulated demonstration - 2025-10-13 - Research Publication - Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. - source: arxiv.org
Humanoid Everyday releases open-world manipulation dataset collected on Unitree G1 - 2025-10-09 - Research Publication - This dataset covers Humanoid Everyday releases open-world manipulation dataset collected on Unitree G1 for G1 in dexterity. - source: arxiv.org
RobotDancing paper validates long-horizon humanoid motion tracking on Unitree H1 - 2025-09-25 - Research Publication - Long-horizon, high-dynamic motion tracking on humanoids remains brittle because absolute joint commands cannot compensate model-plant mismatch, leading to error accumulation. - source: arxiv.org
RuN paper demonstrates natural walk-run transitions on Unitree G1 - 2025-09-25 - Research Publication - This paper covers RuN paper demonstrates natural walk-run transitions on Unitree G1 for G1 in Robot learning. - source: arxiv.org
RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots - 2025-09-23 - Research Publication - We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. - source: arxiv.org
knoxsbyte/argos - 2025-09-23 - Research Publication - A fully end-to-end framework for coordinating swarms of Unitree G1 humanoid robots to autonomously clean rooms - source: github.com
HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos - 2025-09-20 - Research Publication - HDMI extracts human and object motion from videos, trains joint robot-object tracking policies in simulation, and transfers them to physical Unitree G1. The experiments include repeated door traversal, box handling and… - source: arxiv.org
shanpenghui/RoboMimicDeploy_G1 - 2025-08-14 - Research Publication - RoboMimicDeploy_G1 is a policy deployment and control framework for the Unitree G1 robot, supporting both Mujoco simulation and real-time control on the physical robot. - source: github.com
hangxu811/Unitree_G1_pose_control-through-UI - 2025-08-14 - Research Publication - This is a motion-design assistant tool for the Unitree G1 humanoid robot. It enables users to intuitively design and adjust poses in a 3D environment, then send them to the control panel so the real G1 can accurately… - source: github.com
Ericcsr/G1_localization - 2025-08-05 - Research Publication - Localization toolbox for Unitree G1 humanoid robot - source: github.com
YanjieZe/GMR - 2025-08-03 - Research Publication - [ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST. - source: github.com
GalacTechNyc/unitree-g1-autonomous - 2025-07-28 - Research Publication - 🤖 Fully autonomous navigation system for Unitree G1 humanoid robot using AI-powered visual analysis with Google Gemini API - source: github.com
JeffrinSam/JeffrinSam_G1 - 2025-07-22 - Research Publication - Synthetic Data Generation -Generate synthetic joint data for Unitree H1/G1 robots via imitation learning in Isaac Lab. Simulate and visualize in Isaac Sim, enhance with Cosmos for realism, and combine with teleop data to… - source: github.com
wkooks/LIOrf_ros2_G1 - 2025-07-22 - Research Publication - LIOrf ROS2 package for Unitree G1 robot - source: github.com
BrainCoTech/unitree-g1-brainco-hand - 2025-07-16 - Research Publication - Tutorial on adapting BrainCo Revo2 hands for Unitree G1 robot. - source: github.com
UniTracker universal whole-body motion tracker is evaluated on Unitree G1 - 2025-07-10 - Research Publication - Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. - source: arxiv.org
yifeichen2024/G1_deploy - 2025-07-02 - Research Publication - Deploy the policy on the unitree G1 robot - source: github.com
NVIDIA GR00T N1.5 humanoid foundation model - 2025-06-11 - Research Publication - NVIDIA Research published GR00T N1.5 as an upgraded open foundation model for generalist humanoid robots. The page reports improved simulated benchmark performance, stronger language following on Fourier GR-1 experiments… - source: research.nvidia.com
NVIDIA releases G1 fruit pick-and-place teleoperation dataset for GR00T workflows - 2025-06-10 - Research Publication - This dataset covers NVIDIA releases G1 fruit pick-and-place teleoperation dataset for GR00T workflows for G1 in Human-robot interaction. - source: huggingface.co
mujocolab/mjlab - 2025-06-10 - Research Publication - Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research - source: github.com
Galbot open-sources OpenWBT whole-body teleoperation for humanoid robots - 2025-06-09 - Research Publication - This repo covers Galbot open-sources OpenWBT whole-body teleoperation for humanoid robots for Galbot G1 in Human-robot interaction. - source: github.com
Jalil32/g1-isaac-groot-n1 - 2025-05-28 - Research Publication - This project aims to fine-tune and deploy NVIDIA's Isaac GR00T N1 model to the unitree G1 humanoid robot - source: github.com
Gait-conditioned reinforcement-learning paper validates multi-gait locomotion on Unitree G1 - 2025-05-27 - Research Publication - We present a unified gait-conditioned reinforcement learning framework that enables humanoid robots to perform standing, walking, running, and smooth transitions within a single recurrent policy. - source: arxiv.org
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation - 2025-05-27 - Research Publication - Adds a cross-platform Unitree manipulation/control artifact spanning B2 and G1. - source: arxiv.org
jiachengliu3/OpenWBC - 2025-05-22 - Research Publication - VR-based Robot Teleoperation and Data Collection System for Humanoid Whole-Body VLA (Unitree G1) - source: github.com
huangshk/Unitree-G1-Control-Replay - 2025-05-21 - Research Publication - Unitree G1 Robot Control & Replay Platform - source: github.com
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation - 2025-05-19 - Research Publication - TeleOpBench compares motion-capture, vision, VR and exoskeleton interfaces in30 simulated bimanual tasks, then compares trends with physical dual-arm experiments. - source: arxiv.org
yediong/IK-humanoid - 2025-04-19 - Research Publication - Using inverse kinematics (IK) solving to achieve partial hand movements for the Unitree G1 robot, based on unitree-rl-gym and IsaacGym. - source: github.com
Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation - 2025-04-13 - Research Publication - Humanoid-COA decomposes natural-language instructions into grounded action sequences and evaluates physical H1-2 and G1 loco-manipulation in an open area and apartment. The framework combines visual scene interpretation… - source: arxiv.org
aliasrobotics/cai - 2025-03-31 - Research Publication - Cybersecurity AI (CAI), the framework for AI Security - source: github.com
ashishmiryalkar/unitree_walking - 2025-03-13 - Research Publication - unitree g1 robot walking using omniverse, Isaaclab, PPO Reinforcement learning. - source: github.com
ioloizou/g1_locomotion - 2025-02-27 - Research Publication - Humanoid Robot Locomotion Stack for Unitree G1 Using Convex Model Predictive Control - source: github.com
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit - 2025-02-25 - Research Publication - Releases a repository for HUMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit. Covers frameworks for locomotion and manipulation tasks in humanoid robots. Targets humanoid robot training and operations… - source: github.com
aukilabs/auki_robotics_g1_humanoid_ros2 - 2025-02-13 - Research Publication - ROS2 packages for Unitree G1 Humanoid - source: github.com
HoST paper deploys diverse-posture standing-up control on Unitree G1 - 2025-02-12 - Research Publication - Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. - source: arxiv.org
ASAP paper aligns simulation and real-world physics for agile Unitree G1 skills - 2025-02-03 - Research Publication - Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. - source: arxiv.org
Ahmad0Aldaher/Aligator_Unitree_G1 - 2025-01-26 - Research Publication - Modeling the walking behavior of the Unitree G1 robot using the Aligator trajectory optimization library. - source: github.com
Ahmad0Aldaher/Unitree_G1_Stabilization - 2025-01-26 - Research Publication - This Git repository provides a Python script using the Pinocchio library and the Unitree G1 humanoid robot model - source: github.com
kyavuzkurt/g1_description - 2024-12-03 - Research Publication - ROS2 Package for Unitree G1 Robot Description - source: github.com
dimensionalOS/dimos - 2024-10-19 - Research Publication - Dimensional is the agentic operating system for physical space. Command humanoids, quadrupeds, drones, and other hardware platforms in natural language and build multi-agent systems that work seamlessly with physical input… - source: github.com
unitreerobotics/xr_teleoperate - 2024-08-05 - Research Publication - This repository implements teleoperation of the Unitree humanoid robot using XR Devices. - source: github.com
fan-ziqi/robot_lab - 2024-07-06 - Research Publication - The source registers exact model-specific Isaac Lab environments for tracked quadruped, wheeled-quadruped and humanoid platforms. - source: github.com
kevinzakka/mink - 2024-02-26 - Research Publication - Python inverse kinematics based on MuJoCo. - source: github.com
unitreerobotics/unitree_mujoco - Research Publication - Unitree’s MuJoCo simulator integrates low-level SDK2 control with C++ and Python simulation. It supplies robot models, joint-command/state interfaces, terrain tools and controller examples for digital validation. - source: github.com
Unitree robot descriptions and simulation packages - Research Publication - Unitree's shared robot-description and simulation repository publishes robot models, meshes and ROS control packages for multiple platforms. - source: github.com
Unitree SDK2 control interfaces and examples - Research Publication - Unitree SDK2 supplies C++ communication libraries and platform-specific examples for robot control. The source separates G1, H1, H2 and R1 examples alongside quadrupeds and shared DDS interfaces. - source: github.com