# ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning

arXiv: https://arxiv.org/abs/2510.05070 · HTML: https://mlsanity.com/paper/2510.05070/

## Key facts

- Cited by 41 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 41 references that are in the map.
- First posted on arXiv 6 Oct 2025.

## Builds on (most cited first, 30 of 38)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [Pivotal Tuning for Latent-based Editing of Real Images](https://mlsanity.com/paper/2106.05744/) (2021)
- [Residual Reinforcement Learning for Robot Control](https://mlsanity.com/paper/1812.03201/) (2018)
- [Object Motion Guided Human Motion Synthesis](https://mlsanity.com/paper/2309.16237/) (2023)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [Real-World Humanoid Locomotion with Reinforcement Learning](https://mlsanity.com/paper/2303.03381/) (2023)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://mlsanity.com/paper/2508.08241/) (2025)
- [Residual Policy Learning](https://mlsanity.com/paper/1812.06298/) (2018)
- [Expressive Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2402.16796/) (2024)
- [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://mlsanity.com/paper/2502.01143/) (2025)
- [A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation](https://mlsanity.com/paper/2507.05331/) (2025)
- [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://mlsanity.com/paper/2403.10506/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [Humanoid Parkour Learning](https://mlsanity.com/paper/2406.10759/) (2024)
- [From Imitation to Refinement -- Residual RL for Precise Assembly](https://mlsanity.com/paper/2407.16677/) (2024)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations](https://mlsanity.com/paper/2303.01497/) (2023)
- [InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions](https://mlsanity.com/paper/2502.20390/) (2025)
- [Humanoid Locomotion as Next Token Prediction](https://mlsanity.com/paper/2402.19469/) (2024)
- [Visual Imitation Enables Contextual Humanoid Control](https://mlsanity.com/paper/2505.03729/) (2025)
- [OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation](https://mlsanity.com/paper/2410.11792/) (2024)
- [ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning](https://mlsanity.com/paper/2503.21860/) (2025)
- [Generalizable Humanoid Manipulation with 3D Diffusion Policies](https://mlsanity.com/paper/2410.10803/) (2024)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [Learning Humanoid Standing-up Control across Diverse Postures](https://mlsanity.com/paper/2502.08378/) (2025)

## Built on by (most cited first, 30 of 41)

- [Dex4D: Task-Agnostic Point Track Policy for Zero-Shot Dexterous Manipulation](https://mlsanity.com/paper/2602.15828/) (2026)
- [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://mlsanity.com/paper/2602.06643/) (2026)
- [InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions](https://mlsanity.com/paper/2602.06035/) (2026)
- [ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation](https://mlsanity.com/paper/2603.03279/) (2026)
- [ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation](https://mlsanity.com/paper/2607.08741/) (2026)
- [From Generated Human Videos to Physically Plausible Robot Trajectories](https://mlsanity.com/paper/2512.05094/) (2025)
- [MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction](https://mlsanity.com/paper/2602.15733/) (2026)
- [SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning](https://mlsanity.com/paper/2603.10306/) (2026)
- [SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction](https://mlsanity.com/paper/2606.27581/) (2026)
- [SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework](https://mlsanity.com/paper/2605.20373/) (2026)
- [SplitAdapter: Load-Aware Humanoid Loco-Manipulation via Factorized Adaptation](https://mlsanity.com/paper/2606.03297/) (2026)
- [VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes](https://mlsanity.com/paper/2606.30645/) (2026)
- [Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors](https://mlsanity.com/paper/2605.22272/) (2026)
- [HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers](https://mlsanity.com/paper/2606.06493/) (2026)
- [CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation](https://mlsanity.com/paper/2606.23680/) (2026)
- [AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation](https://mlsanity.com/paper/2602.14363/) (2026)
- [Learning to Assist: Physics-Grounded Human-Human Control via Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2603.11346/) (2026)
- [ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors](https://mlsanity.com/paper/2603.15956/) (2026)
- [RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning](https://mlsanity.com/paper/2606.11092/) (2026)
- [MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins](https://mlsanity.com/paper/2606.26392/) (2026)
- [HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark](https://mlsanity.com/paper/2608.13555/) (2026)
- [DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model](https://mlsanity.com/paper/2608.22278/) (2026)
- [Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions](https://mlsanity.com/paper/2609.16683/) (2026)
- [HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies](https://mlsanity.com/paper/2603.12243/) (2026)
- [Imitation Learning from Human Motion Alone Does Not Guarantee Biomechanically Plausible Gait Kinetics](https://mlsanity.com/paper/2603.12408/) (2026)
- [Task-Specified Compliance Bounds for Humanoids via Lipschitz-Constrained Policies](https://mlsanity.com/paper/2603.16180/) (2026)
- [HOIST: Humanoid Optimization with Imitation and Sample-efficient Tuning for Manipulating Suspended Loads](https://mlsanity.com/paper/2606.00252/) (2026)
- [LadderMan: Learning Humanoid Perceptive Ladder Climbing](https://mlsanity.com/paper/2606.05873/) (2026)
- [EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal](https://mlsanity.com/paper/2607.13472/) (2026)
- [PFM-HR: Pose Flow Matching for Humanoid Robots](https://mlsanity.com/paper/2608.03227/) (2026)

## Abstract (arXiv)

Humanoid whole-body loco-manipulation promises transformative capabilities for daily service and warehouse tasks. While recent advances in general motion tracking (GMT) have enabled humanoids to reproduce diverse human motions, these policies lack the precision and object awareness required for loco-manipulation. To this end, we introduce ResMimic, a two-stage residual learning framework for precise and expressive humanoid control from human motion data. First, a GMT policy, trained on large-scale human-only motion, serves as a task-agnostic base for generating human-like whole-body movements. An efficient but precise residual policy is then learned to refine the GMT outputs to improve locomotion and incorporate object interaction. To further facilitate efficient training, we design (i) a point-cloud-based object tracking reward for smoother optimization, (ii) a contact reward that encourages accurate humanoid body-object interactions, and (iii) a curriculum-based virtual object controller to stabilize early training. We evaluate ResMimic in both simulation and on a real Unitree G1 humanoid. Results show substantial gains in task success, training efficiency, and robustness over strong baselines. Videos are available at https://resmimic.github.io/ .