mlsanityData to 14 Oct 2026

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

arXiv 2404.05695 ↗First posted 8 Apr 2024cs.RO cs.AI cs.LGcited by 53

Not on the map. Why?

Cited by 28 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment. Humanoid-Gym also integrates a sim-to-sim framework from Isaac Gym to Mujoco that allows users to verify the trained policies in different physical simulations to ensure the robustness and generalization of the policies. This framework is verified by RobotEra's XBot-S (1.2-meter tall humanoid robot) and XBot-L (1.65-meter tall humanoid robot) in a real-world environment with zero-shot sim-to-real transfer. The project website and source code can be found at: https://sites.google.com/view/humanoid-gym/.

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 21 of its 25 references that are in the map. First posted on arXiv 8 Apr 2024.

Builds on

21 of 25 references.

References · 21

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2015High-Dimensional Continuous Control Using Generalized Advantage Estimationcited by 2,026
  3. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  4. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  5. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 672
  6. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  7. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  8. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  9. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  10. 2020Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Surveycited by 413
  11. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  12. 2017Asymmetric Actor Critic for Image-Based Robot Learningcited by 238
9 more
  1. 2022Rapid Locomotion via Reinforcement Learningcited by 168
  2. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  3. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 130
  4. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 116
  5. 2020Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Compositioncited by 96
  6. 2024Humanoid Locomotion as Next Token Predictioncited by 69
  7. 2021Fast and Efficient Locomotion via Learned Gait Transitionscited by 54
  8. 2022Adapting Rapid Motor Adaptation for Bipedal Robotscited by 54
  9. 2023Decentralized Motor Skill Learning for Complex Robotic Systemscited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 8; 2025: 31; 2026: 14.

53 papers.

Sort:

By area:

  1. 2024Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learningcited by 56
  2. 2025RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learningcited by 54
  3. 2025KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skillscited by 52
  4. 2025A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Modelscited by 38
  5. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 30
  6. 2024Learning from Massive Human Videos for Universal Humanoid Pose Controlcited by 29
  7. 2025From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidancecited by 18
  8. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
  9. 2024A Large Recurrent Action Model: xLSTM enables Fast Inference for Robotics Taskscited by 14
  10. 2026TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Controlcited by 14
  11. 2025Learning Humanoid Locomotion with World Model Reconstructioncited by 13
  12. 2026Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoidscited by 13
38 more
  1. 2025Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learningcited by 11
  2. 2025RL from Physical Feedback: Aligning Large Motion Models with Humanoid Controlcited by 11
  3. 2025OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Frameworkcited by 10
  4. 2025Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motionscited by 7
  5. 2025RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotioncited by 7
  6. 2024Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learningcited by 6
  7. 2025JAEGER: Dual-Level Humanoid Whole-Body Controllercited by 6
  8. 2025Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstructioncited by 5
  9. 2025Impact of Static Friction on Sim2Real in Robotic Reinforcement Learningcited by 4
  10. 2025Let Humanoids Hike! Integrative Skill Development on Complex Trailscited by 4
  11. 2025Embodied Co-Design for Rapidly Evolving Agents: Taxonomy, Frontiers, and Challengescited by 4
  12. 2025Coordinated Humanoid Manipulation with Choice Policiescited by 4
  13. 2026Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robotscited by 4
  14. 2024AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Modelscited by 3
  15. 2025Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotioncited by 3
  16. 2025Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotioncited by 3
  17. 2025Contrastive Representation Learning for Robust Sim-to-Real Transfer of Adaptive Humanoid Locomotioncited by 3
  18. 2025Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Controlcited by 3
  19. 2024RobocupGym: A challenging continuous control benchmark in Robocupcited by 2
  20. 2025Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUscited by 2
  21. 2025Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policycited by 2
  22. 2025PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomizationcited by 2
  23. 2025VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robotscited by 1
  24. 2025Learning to Evaluate Autonomous Behaviour in Human-Robot Interactioncited by 1
  25. 2025GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitationcited by 1
  26. 2025RuN: Residual Policy for Natural Humanoid Locomotioncited by 1
  27. 2026Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Controlcited by 1
  28. 2026ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walkingcited by 1
  29. 2026Tac2Real: Reliable and GPU Visuotactile Simulation for Online Reinforcement Learning and Zero-Shot Real-World Deploymentcited by 1
  30. 2026CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projectioncited by 1
  31. 2026Self-Evolving AI for Humanoids: Mechanisms, Safety, and Evaluation of Post-Deployment Self-Improvementcited by 1
  32. 2025Unity RL Playground: A Versatile Reinforcement Learning Framework for Mobile Robotscited by 0
  33. 2025PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotioncited by 0
  34. 2025Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terraincited by 0
  35. 2025Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steeringcited by 0
  36. 2026PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learningcited by 0
  37. 2026Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Priorcited by 0
  38. 2026SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprintscited by 0

50 most cited of 53 All 53 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2024Whole-body Humanoid Robot Locomotion with Human Reference
  2. 2026ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
  3. 2025Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
  4. 2026Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds
  5. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
  6. 2025Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots
  7. 2025LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
  8. 2026HALO:Closing Sim-to-Real Gap for Heavy-loaded Humanoid Agile Motion Skills via Differentiable Simulation