HuGo: LLMs as Whole-Body Policy Code Designers for Humanoid Loco-Manipulation

arXiv:2609.30594 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-29

Code: https://github.com/karpathy/autoresearch

Project page: https://iconlab.negarmehr.com/HuGo

Terminology

• Large Language Model — 6× in this paper
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Zero-Shot Transfer — 4× in this paper · explained in 4 episodes
• Low Gate Passing — 3× in this paper
• Narrow Gate Passing — 3× in this paper
• Reward Function — 3× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Agentic Task — 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
• Benchmarking — 1× in this paper · explained in 3 episodes
• Carry and Place Bread Box — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Push Door with Hand — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
• Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
• Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
• Prompt a Robot to Walk with Large Language Models
• HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
• AlphaEvolve: A coding agent for scientific and algorithmic discovery
• CRAFT: Coaching Reinforcement Learning Autonomously using Foundation Models for Multi-Robot Coordination Tasks
• Vision-Language Models as Success Detectors
• MEMENTO: Memory-Guided Memetic Code-as-Policy Evolution
• Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation
• Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
• MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
• KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis
• Ego-Vision World Model for Humanoid Contact Planning

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