HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos

arXiv:2602.02473 · cs.RO, cs.LG · Submitted 2026-02-02 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-02-02

Updated: 2026-10-09

Project page: https://wyhuai.github.io/human-x

Terminology

• Generalization — 23× in this paper · explained in 13 episodes
• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Data Augmentation — 7× in this paper · explained in 7 episodes
• Core — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 4× in this paper
• Reward Function — 3× in this paper · explained in 2 episodes
• ACM Transactions on Graphics — 2× in this paper
• Ablation study — 2× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Interaction Termination — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adversarial Motion Prior (AMP) — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Phase Transition — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• Visual Imitation Enables Contextual Humanoid Control
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• SAM 3D: 3Dfy Anything in Images
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• Expressive Whole-Body Control for Humanoid Robots
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• Learning Getting-Up Policies for Real-World Humanoid Robots
• Emergence of Locomotion Behaviours in Rich Environments
• Learning Humanoid Standing-up Control across Diverse Postures
• Towards Adaptable Humanoid Control via Adaptive Motion Tracking
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
• CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
• Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints

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