mlsanityData to 14 Oct 2026

Sim-to-Real Learning for Humanoid Box Loco-Manipulation

arXiv 2310.03191 ↗First posted 4 Oct 2023cs.ROcited by 36

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Abstract (arXiv)

In this work we propose a learning-based approach to box loco-manipulation for a humanoid robot. This is a particularly challenging problem due to the need for whole-body coordination in order to lift boxes of varying weight, position, and orientation while maintaining balance. To address this challenge, we present a sim-to-real reinforcement learning approach for training general box pickup and carrying skills for the bipedal robot Digit. Our reward functions are designed to produce the desired interactions with the box while also valuing balance and gait quality. We combine the learned skills into a full system for box loco-manipulation to achieve the task of moving boxes from one table to another with a variety of sizes, weights, and initial configurations. In addition to quantitative simulation results, we demonstrate successful sim-to-real transfer on the humanoid r

Key facts. Cited by 36 papers in the map (data through 14 Oct 2026). First posted on arXiv 4 Oct 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 11; 2025: 13; 2026: 12.

36 papers.

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  1. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 185
  2. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  3. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 72
  4. 2025OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interactioncited by 71
  5. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 51
  6. 2025Learning Humanoid Standing-up Control across Diverse Posturescited by 46
  7. 2024CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangementcited by 44
  8. 2025ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learningcited by 41
  9. 2025Learning coordinated badminton skills for legged manipulatorscited by 19
  10. 2025PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction Systemcited by 18
  11. 2025From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robotscited by 17
  12. 2024Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robotscited by 16
24 more
  1. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
  2. 2025DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulationcited by 11
  3. 2024Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Modelscited by 8
  4. 2024Deep Reinforcement Learning for Bipedal Locomotion: A Brief Surveycited by 7
  5. 2024Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrainscited by 6
  6. 2026Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulationcited by 3
  7. 2026PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeballcited by 3
  8. 2026REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learningcited by 2
  9. 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priorscited by 2
  10. 2026HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teacherscited by 2
  11. 2024Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstrationcited by 1
  12. 2024Multi-Scenario Reasoning: Unlocking Cognitive Autonomy in Humanoid Robots for Multimodal Understandingcited by 1
  13. 2025Learning to Evaluate Autonomous Behaviour in Human-Robot Interactioncited by 1
  14. 2025HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environmentscited by 1
  15. 2026AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimationcited by 1
  16. 2025Learning to Dock: A Simulation-based Study on Closing the Sim2Real Gap in Autonomous Underwater Dockingcited by 0
  17. 2025Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steeringcited by 0
  18. 2025Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulationcited by 0
  19. 2026Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RLcited by 0
  20. 2026Learning Multi-Humanoid Pickup and Transport via Decentralized Object-Centric Controlcited by 0
  21. 2026Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulationcited by 0
  22. 2026MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blendingcited by 0
  23. 2026Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loadscited by 0
  24. 2026From Video to Vision: Learning Generalizable Humanoid Carrying from Human Motioncited by 0