Safe Execution of RL Policies via Acceleration-based CBF-QP Constraint Enforcement for Real-World Robotic Deployments - 2026-07-16 - Research Publication - A physical H1 deployment reports 92% fewer constraint violations under the safety layer. - source: arxiv.org
Immersive Social Interaction with VR and LLM-Assisted Humanoids - 2026-07-08 - Research Publication - Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion tracking or cognitively demanding low-level… - source: arxiv.org
Rokaia19/h1-mocap-retargeting - 2026-07-05 - Research Publication - Retargeting human motion capture data to the Unitree H1 robot using IK and MuJoCo - source: github.com
iitd-bird-robotics/2026-major-Bipedal_Locomotion_Using_RL - 2026-06-29 - Research Publication - RL-based framework for robust bipedal locomotion on uneven terrains and staircases using the Unitree H1 humanoid robot in the Genesis simulator with PPO, curriculum learning, gait phase generation, and domain randomization. - source: github.com
Open-X-Humanoid/HEX - 2026-05-19 - Research Publication - HEX is a whole-body vision-language-action framework for full-sized humanoid robots. - source: github.com
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
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
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery - 2026-03-09 - Research Publication - This balance-informed reinforcement-learning study combines capture-point, center-of-mass and momentum signals during training, then transfers a proprioceptive policy to physical Unitree H1-2. Ten hardware trials reached… - source: arxiv.org
Residual Control for Fast Recovery from Dynamics Shifts - 2026-03-08 - Research Publication - Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts… - 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
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
A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs - 2025-11-25 - Research Publication - The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. - source: arxiv.org
HansZ8/RoboJuDo - 2025-09-28 - Research Publication - A plug-and-play deploy framework for robots. Just deploy, just do. - source: github.com
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
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
Latent Conditioned Loco-Manipulation Using Motion Priors - 2025-09-19 - Research Publication - Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more… - source: arxiv.org
Karthus-Chen/unitree_h1_learn - 2025-09-12 - Research Publication - A robot simulation environment based on mujoco, supporting research on teleoperation and imitation learning - source: github.com
Yara-NM/h1_unitree_arms_controller - 2025-07-23 - Research Publication - Low- and high-level controllers for Unitree H1 robot arms with dual-arm manipulation support. - 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
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
Yara-NM/MPC-h1-Manipulation-task - 2025-05-28 - Research Publication - This repository implements a two-layer Model Predictive Control (MPC) system for motion control of the Unitree H1 robot’s arms. The control architecture includes a high-level Trajectory MPC for planning optimal… - source: github.com
GenPO: Generative Diffusion Models Meet On-Policy Reinforcement Learning - 2025-05-24 - Research Publication - Recent advances in reinforcement learning (RL) have demonstrated the powerful exploration capabilities and multimodality of generative diffusion-based policies. - source: arxiv.org
TD-GRPC: Temporal Difference Learning with Group Relative Policy Constraint for Humanoid Locomotion - 2025-05-19 - Research Publication - Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics, complex contact interactions, and… - source: arxiv.org
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning - 2025-04-19 - Research Publication - ALMI coordinates separately trained lower-body locomotion and upper-body motion imitation on physical Unitree H1-2. Its companion ALMI-X collection contains language-annotated MuJoCo trajectories and supports released… - source: arxiv.org
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
InternRobotics/HoST - 2025-04-03 - Research Publication - [RSS 2025 Best Systems Paper Finalist] 💐Official implementation of "Learning Humanoid Standing-up Control across Diverse Postures" - source: github.com
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning - 2025-02-24 - Research Publication - DBHL learns whole-body locomotion with a dynamic-balance reward and proprioceptive control. Physical H1-2 experiments traverse a narrow track, stairs and uneven ground while handling payloads, pushes and trips, separately… - source: arxiv.org
A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion - 2025-02-05 - Research Publication - Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. - source: arxiv.org
LeCAR-Lab/HumanoidVerse - 2025-01-28 - Research Publication - ain_rand.push_robots=True \ +simulator=genesis # you can load the policy trained in isaacgym ``` # Start Training Your Humanoids! Here are some starting commands to train & evaluate the locomotion policy on Unitree H1… - source: github.com
kyavuzkurt/h1_description - 2024-12-03 - Research Publication - ROS2 Package for Unitree H1 Robot Description - source: github.com
Learning Humanoid Locomotion with Perceptive Internal Model - 2024-11-21 - Research Publication - In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently… - source: arxiv.org
HOVER unifies multiple whole-body control modes for humanoid robots - 2024-10-28 - Research Publication - HOVER introduces a multi-mode policy distillation framework for navigation, loco-manipulation, and tabletop manipulation control modes. The paper uses full-body kinematic motion imitation as a shared abstraction so one… - source: arxiv.org
LeCAR-Lab/human2humanoid - 2024-09-29 - Research Publication - [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning - source: github.com
Structural Optimization of Lightweight Bipedal Robot via SERL - 2024-08-28 - Research Publication - Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. - source: arxiv.org
ZhangXG001/unitree_h1_humanoid-gym - 2024-08-07 - Research Publication - an implement of unitree_h1 robot with humanoid-gym - 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
OmniH2O enables whole-body teleoperation and autonomy on Unitree H1 - 2024-06-13 - Research Publication - OmniH2O presents a learning-based system for whole-body humanoid teleoperation and autonomy using kinematic pose as a control interface. The work demonstrates real-world whole-body tasks through teleoperation and autonomy… - source: arxiv.org
External H2O paper demonstrates real-time whole-body teleoperation on Unitree H1 - 2024-03-07 - Research Publication - We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. - source: arxiv.org
SelfBriefs/PBRS-H1 - 2024-03-04 - Research Publication - PBRS on Unitree H1 Humanoid Robot - source: github.com
rohanpsingh/LearningHumanoidWalking - 2022-07-13 - Research Publication - Training a humanoid robot for locomotion using Reinforcement Learning - 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