mlsanityData to 14 Oct 2026

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

arXiv 2410.21229 ↗First posted 28 Oct 2024cs.ROcited by 91

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Cited by 25 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while tabletop manipulation prioritizes upper-body joint angle tracking. Existing approaches typically train individual policies tailored to a specific command space, limiting their transferability across modes. We present the key insight that full-body kinematic motion imitation can serve as a common abstraction for all these tasks and provide general-purpose motor skills for learning multiple modes of whole-body control. Building on this, we propose HOVER (Humanoid Versatile Controller), a multi-mode policy distillation framework that consolidates diverse control modes into a unified policy. HOVER enables seamless transitions between control modes while preserving the distinct advantages of each, offering a robust and scalable solution for humanoid control across a wide range of modes. By eliminating the need for policy retraining for each control mode, our approach improves efficiency and flexibility for future humanoid applications.

Key facts. Cited by 91 papers in the map (data through 14 Oct 2026). First posted on arXiv 28 Oct 2024.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 3; 2025: 46; 2026: 42.

91 papers.

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  1. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 130
  2. 2025TWIST: Teleoperated Whole-Body Imitation Systemcited by 101
  3. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  4. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 88
  5. 2025TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenizationcited by 51
  6. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 51
  7. 2025RSL-RL: A Learning Library for Robotics Researchcited by 49
  8. 2025Learning Humanoid Standing-up Control across Diverse Posturescited by 46
  9. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 46
  10. 2024Learning from Massive Human Videos for Universal Humanoid Pose Controlcited by 29
  11. 2025HuB: Learning Extreme Humanoid Balancecited by 28
  12. 2025Learning Getting-Up Policies for Real-World Humanoid Robotscited by 26
38 more
  1. 2025SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrationscited by 25
  2. 2025Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skillscited by 22
  3. 2025LocoFormer: Generalist Locomotion via Long-context Adaptationcited by 20
  4. 2025From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidancecited by 18
  5. 2025From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robotscited by 17
  6. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
  7. 2025Learning Sim-to-Real Humanoid Locomotion in 15 Minutescited by 16
  8. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 15
  9. 2025Reconstructing 4D Spatial Intelligence: A Surveycited by 14
  10. 2025KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Controlcited by 13
  11. 2026Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrationscited by 12
  12. 2025A Unified and General Humanoid Whole-Body Controller for Versatile Locomotioncited by 11
  13. 2025Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformerscited by 11
  14. 2025DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulationcited by 11
  15. 2026ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Controlcited by 11
  16. 2026FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructionscited by 10
  17. 2025AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learningcited by 9
  18. 2025SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blendingcited by 9
  19. 2026ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulationcited by 9
  20. 2025MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Roboticscited by 8
  21. 2025StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotioncited by 8
  22. 2025Towards Adaptable Humanoid Control via Adaptive Motion Trackingcited by 8
  23. 2025Natural Humanoid Robot Locomotion with Generative Motion Priorcited by 7
  24. 2025Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusioncited by 7
  25. 2025Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoidscited by 7
  26. 2025JAEGER: Dual-Level Humanoid Whole-Body Controllercited by 6
  27. 2025From Generated Human Videos to Physically Plausible Robot Trajectoriescited by 6
  28. 2026Deep Whole-body Parkourcited by 6
  29. 2026Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrationscited by 6
  30. 2025DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotioncited by 5
  31. 2025CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbationcited by 5
  32. 2025UniAct: Unified Motion Generation and Action Streaming for Humanoid Robotscited by 5
  33. 2026TeamHOI: Learning a Unified Policy for Cooperative Human-Object Interactions with Any Team Sizecited by 5
  34. 2026Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Controlcited by 5
  35. 2026Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robotscited by 4
  36. 2026HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planningcited by 4
  37. 2025Autonomous Human-Robot Interaction via Operator Imitationcited by 3
  38. 2025Latent Conditioned Loco-Manipulation Using Motion Priorscited by 3

50 most cited of 91 All 91 (JSON)