Learning Human-Like Badminton Skills for Humanoid Robots

arXiv:2602.08370 · cs.RO, cs.AI, cs.LG · Submitted 2026-02-09 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-02-09

Updated: 2026-09-14

Comments: 10 pages, 4 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Distillation — 8× in this paper · explained in 2 episodes
• ACM Transactions on Graphics — 5× in this paper
• Sim-to-Real Transfer — 5× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Adversarial Motion Priors — 4× in this paper
• Sparsity — 4× in this paper · explained in 4 episodes
• Success Rate — 4× in this paper
• Fidelity — 3× in this paper · explained in 2 episodes
• Reward Function — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Adversarial Skill Embeddings — 2× in this paper
• Alignment — 2× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Center of Mass — 1× in this paper
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Degrees of Freedom — 1× in this paper
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• In-Bounds Reward — 1× in this paper
• Mode Collapse — 1× in this paper · explained in 2 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Reference State Initialization — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• Visual Imitation Enables Contextual Humanoid Control
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
• VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• SMPLOlympics: Sports Environments for Physically Simulated Humanoids
• Learning to Ball: Composing Policies for Long-Horizon Basketball Moves
• Humanoid Whole-Body Badminton via Multi-Stage Reinforcement Learning
• PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
• Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
• HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning
• Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
• Robot Parkour Learning
• Track Any Motions under Any Disturbances
• Goal-Conditioned Reinforcement Learning: Problems and Solutions

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