mlsanityData to 14 Oct 2026

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

arXiv 2505.03738 ↗First posted 6 May 2025cs.RO cs.AI cs.LGcited by 51

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Abstract (arXiv)

Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the ground. However, achieving these capabilities on real humanoids remains challenging due to their high degrees of freedom (DoF) and nonlinear dynamics. We propose Adaptive Motion Optimization (AMO), a framework that integrates sim-to-real reinforcement learning (RL) with trajectory optimization for real-time, adaptive whole-body control. To mitigate distribution bias in motion imitation RL, we construct a hybrid AMO dataset and train a network capable of robust, on-demand adaptation to potentially O.O.D. commands. We validate AMO in simulation and on a 29-DoF Unitree G1 humanoid robot, demonstrating superior stability and an expanded workspace compared to strong baselines. Finally, we show that AMO's consistent performance supports autonomous task execution via imitation learning, underscoring the system's versatility and robustness.

Key facts. Cited by 51 papers in the map (data through 14 Oct 2026). Builds on 52 of its 70 references that are in the map. First posted on arXiv 6 May 2025.

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52 of 70 references.

References · 52

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 3,080
  3. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  4. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  5. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  6. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,236
  7. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  8. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 862
  9. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 551
  10. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  11. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 394
  12. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 391
38 more
  1. 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 251
  2. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Playcited by 223
  3. 2022Rapid Locomotion via Reinforcement Learningcited by 168
  4. 2023Extreme Parkour with Legged Robotscited by 164
  5. 2021The Surprising Effectiveness of Representation Learning for Visual Imitationcited by 154
  6. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 152
  7. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 151
  8. 2023Robot Parkour Learningcited by 149
  9. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 145
  10. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  11. 2022Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behaviorcited by 138
  12. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 130
  13. 2024Yell At Your Robot: Improving On-the-Fly from Language Correctionscited by 124
  14. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 116
  15. 2022From Play to Policy: Conditional Behavior Generation from Uncurated Robot Datacited by 103
  16. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 99
  17. 2023CALM: Conditional Adversarial Latent Models for Directable Virtual Characterscited by 94
  18. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 92
  19. 2024HOVER: Versatile Neural Whole-Body Controller for Humanoid Robotscited by 91
  20. 2022Adversarial Motion Priors Make Good Substitutes for Complex Reward Functionscited by 89
  21. 2021Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robotscited by 76
  22. 2024UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllerscited by 75
  23. 2023Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperationcited by 54
  24. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 51
  25. 2021Learning to Jump from Pixelscited by 45
  26. 2023Neural Volumetric Memory for Visual Locomotion Controlcited by 44
  27. 2023Learning Vision-Based Bipedal Locomotion for Challenging Terraincited by 42
  28. 2020UniCon: Universal Neural Controller For Physics-based Character Motioncited by 40
  29. 2023Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotioncited by 39
  30. 2024Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulationcited by 39
  31. 2022OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviorscited by 35
  32. 2019Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Controlcited by 34
  33. 2021The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviorscited by 32
  34. 2024Whole-body Humanoid Robot Locomotion with Human Referencecited by 29
  35. 2023ALAN: Autonomously Exploring Robotic Agents in the Real Worldcited by 24
  36. 2024Berkeley Humanoid: A Research Platform for Learning-based Controlcited by 24
  37. 2019Whole-Body Geometric Retargeting for Humanoid Robotscited by 20
  38. 2023Generalized Animal Imitator: Agile Locomotion with Versatile Motion Priorcited by 19

50 most cited of 52 All 52 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 23; 2026: 28.

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  1. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  2. 2026Being-H0.7: A Latent World-Action Model from Egocentric Videoscited by 75
  3. 2026EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the Worldcited by 57
  4. 2025TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection Systemcited by 44
  5. 2025LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instructioncited by 43
  6. 2025ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learningcited by 41
  7. 2025WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Controlcited by 36
  8. 2025SPIDER: Scalable Physics-Informed Dexterous Retargetingcited by 32
  9. 2025Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulationcited by 25
  10. 2025From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robotscited by 17
  11. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 15
  12. 2025SoftMimic: Learning Compliant Whole-body Control from Examplescited by 14
38 more
  1. 2026HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videoscited by 14
  2. 2026Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrationscited by 12
  3. 2025LOVON: Legged Open-Vocabulary Object Navigatorcited by 11
  4. 2025DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulationcited by 11
  5. 2026FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructionscited by 10
  6. 2026MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulationcited by 10
  7. 2025SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blendingcited by 9
  8. 2025Towards Adaptable Humanoid Control via Adaptive Motion Trackingcited by 8
  9. 2026ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Datacited by 8
  10. 2026SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Roboticscited by 8
  11. 2025SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Controlcited by 7
  12. 2026ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulationcited by 6
  13. 2025CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbationcited by 5
  14. 2025UniAct: Unified Motion Generation and Action Streaming for Humanoid Robotscited by 5
  15. 2026OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulationcited by 5
  16. 2025Coordinated Humanoid Manipulation with Choice Policiescited by 4
  17. 2026CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperationcited by 4
  18. 2026AGILE: A Comprehensive Workflow for Humanoid Loco-Manipulation Learningcited by 4
  19. 2025RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Trackingcited by 3
  20. 2026SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Frameworkcited by 3
  21. 2026Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulationcited by 3
  22. 2026PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeballcited by 3
  23. 2025Feature-Based vs. GAN-Based Learning from Demonstrations: When and Whycited by 2
  24. 2026HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teacherscited by 2
  25. 2026CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulationcited by 2
  26. 2026PDF-HR: Pose Distance Fields for Humanoid Robotscited by 1
  27. 2026HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Graspingcited by 1
  28. 2026AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidancecited by 1
  29. 2026HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RLcited by 1
  30. 2026TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Modelcited by 1
  31. 2025One-shot Adaptation of Humanoid Whole-body Motion with Walking Priorscited by 0
  32. 2025Switch-JustDance: Benchmarking Whole Body Motion Tracking Controllers Using a Commercial Console Gamecited by 0
  33. 2025Kinematics-Aware Multi-Policy Reinforcement Learning for Force-Capable Humanoid Loco-Manipulationcited by 0
  34. 2026PMG: Parameterized Motion Generator for Human-like Locomotion Controlcited by 0
  35. 2026HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimizationcited by 0
  36. 2026Interaction-Aware Whole-Body Control for Compliant Object Transportcited by 0
  37. 2026STRIDER: Stepping-Enabled Multi-Gait Hierarchical 3D Loco-Manipulation Framework for Humanoid Robotscited by 0
  38. 2026Ego-Exo4D Human Meshes Dataset: 4D Human Motion Reconstruction for Ego-Exo Capturescited by 0

50 most cited of 51 All 51 (JSON)

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  1. 2026BAT: Balancing Agility and Stability via Online Policy Switching for Long-Horizon Whole-Body Humanoid Control
  2. 2026PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization
  3. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
  4. 2025TWIST: Teleoperated Whole-Body Imitation System
  5. 2025Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
  6. 2026Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
  7. 2025Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
  8. 2025SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control