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One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion

24 May 2025

Papers citing "One Policy but Many Worlds: A Scalable Unified Policy for Versatile Humanoid Locomotion"

50 / 72 papers shown

Title
Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain Fangcheng Jin Yuqi Wang Peixin Ma Guodong Yang Pan Zhao En Li Zhengtao Zhang 101 1 0 14 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 71 1 0 28 Mar 2025
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Nvidia Johan Bjorck Fernando Castañeda Nikita Cherniadev Xingye Da ... Ao Zhang Hao Zhang Yizhou Zhao Ruijie Zheng Yuke Zhu VLM 152 65 0 18 Mar 2025
NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models Mert Albaba Chenhao Li Markos Diomataris Omid Taheri Andreas Krause M. Black VGen 91 2 0 13 Mar 2025
HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model Jiaming Liu Hao Chen Pengju An Zhuoyang Liu Renrui Zhang ... Chengkai Hou Mengdi Zhao KC alex Zhou Pheng-Ann Heng Shanghang Zhang 154 19 0 13 Mar 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Renjing Xu 113 1 0 11 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 116 2 0 02 Mar 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 Xiaochen Li 96 5 0 24 Feb 2025
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception Junli Ren Tao Huang Huayi Wang Ziyi Wang Qingwei Ben Junfeng Long Yanchao Yang Jiangmiao Pang Ping Luo 109 2 0 20 Feb 2025
RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations Jingxiao Chen Xinyao Li Jiahang Cao Zhengbang Zhu Wentao Dong Minghuan Liu Ying Wen Yong Yu Li Zhang Weinan Zhang 135 1 0 18 Feb 2025
Learning a Diffusion Model Policy from Rewards via Q-Score Matching Michael Psenka Alejandro Escontrela Pieter Abbeel Yi-An Ma DiffM 142 32 0 17 Feb 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 70 1 0 10 Feb 2025
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Ziyi Wang Tao Huang Ping Luo Jiangmiao Pang 132 24 0 21 Nov 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 104 33 0 28 Oct 2024
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 76 4 0 17 Oct 2024
Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions Zhenyu Jiang Yuqi Xie Jinhan Li Ye Yuan Yifeng Zhu Yuke Zhu 66 11 0 16 Oct 2024
Learning Humanoid Locomotion over Challenging Terrain Ilija Radosavovic Sarthak Kamat Trevor Darrell Jitendra Malik 54 14 0 04 Oct 2024
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control Guy Tevet Sigal Raab S. Cohan Daniele Reda Zhengyi Luo Xue Bin Peng Amit H. Bermano M. van de Panne 76 19 0 04 Oct 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 88 21 0 10 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 83 45 0 26 Aug 2024
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation Ria Doshi Homer Walke Oier Mees Sudeep Dasari Sergey Levine 119 58 0 21 Aug 2024
Diffusion-DICE: In-Sample Diffusion Guidance for Offline Reinforcement Learning Liyuan Mao Haoran Xu Weinan Zhang Xianyuan Zhan Amy Zhang OffRL 104 18 0 29 Jul 2024
GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization Austin Patel Shuran Song LM&Ro 78 7 0 20 Jul 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 175 9 0 16 Jul 2024
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains Gvs Mothish Manan Tayal Shishir Kolathaya 90 5 0 07 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 115 117 0 01 Jul 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 88 54 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 93 109 0 15 Jun 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 95 89 0 13 Jun 2024
Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization Shutong Ding Ke Hu Zhenhao Zhang Kan Ren Weinan Zhang Jingyi Yu Jingya Wang Ye-ling Shi 102 19 0 25 May 2024
Octo: An Open-Source Generalist Robot Policy Octo Model Team Dibya Ghosh Homer Walke Karl Pertsch Kevin Black ... Quan Vuong Ted Xiao Dorsa Sadigh Chelsea Finn Sergey Levine 193 444 0 20 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic Koushil Sreenath OffRL 124 31 0 30 Apr 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey Lingfan Bao Josephine N. Humphreys Tianhu Peng Chengxu Zhou 95 9 0 25 Apr 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 90 55 0 25 Mar 2024
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation Tairan He Zhengyi Luo Wenli Xiao Chong Zhang Kris Kitani Changliu Liu Guanya Shi 78 98 0 07 Mar 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell Koushil Sreenath Jitendra Malik LM&Ro 84 67 0 29 Feb 2024
Whole-body Humanoid Robot Locomotion with Human Reference Qiang Zhang Peter Cui David Yan Jingkai Sun Yiqun Duan Arthur Zhang Renjing Xu 101 37 0 28 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 107 105 0 26 Feb 2024
DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots Jianwei Liu Maria Stamatopoulou Dimitrios Kanoulas 41 19 0 11 Oct 2023
Boosting Continuous Control with Consistency Policy Yuhui Chen Haoran Li Dongbin Zhao OffRL 70 27 0 10 Oct 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 72 167 0 25 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 118 162 0 11 Sep 2023
Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models João Carvalho An T. Le Mark Baierl Dorothea Koert Jan Peters DiffM 71 115 0 03 Aug 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Xi Chen ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro LRM 166 1,276 0 28 Jul 2023
Efficient Diffusion Policies for Offline Reinforcement Learning Bingyi Kang Xiao Ma Chao Du Tianyu Pang Shuicheng Yan OffRL 140 79 0 31 May 2023
Policy Representation via Diffusion Probability Model for Reinforcement Learning Long Yang Zhixiong Huang Fenghao Lei Yucun Zhong Yiming Yang Cong Fang Shiting Wen Binbin Zhou Zhouchen Lin DiffM 86 51 0 22 May 2023
Perpetual Humanoid Control for Real-time Simulated Avatars Zhengyi Luo Jinkun Cao Alexander Winkler Kris Kitani Weipeng Xu 103 105 0 10 May 2023
Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models A. Blattmann Robin Rombach Huan Ling Tim Dockhorn Seung Wook Kim Sanja Fidler Karsten Kreis 3DGS VGen 199 1,092 0 18 Apr 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,231 0 07 Mar 2023
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 113 1,150 0 13 Dec 2022