MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench
Technical University of Darmstadt（达姆施塔特工业大学）；German Research Center for AI (DFKI)（德国人工智能研究中心）；Centre for Cognitive Science（认知科学中心）；Hessian Center for Artificial Intelligence (Hessian.AI)（黑森州人工智能中心）
Moritz Meser, Aditya Bhatt, Boris Belousov, Jan Peters
备注：
3 pages, 3 figures, submitted to IEEE Conference on Robotics and Automation (ICRA@40)
We tackle the recently introduced benchmark for whole-body humanoid control HumanoidBench using MuJoCo MPC. We find that sparse reward functions of HumanoidBench yield undesirable and unrealistic behaviors when optimized; therefore, we propose a set of regularization terms that stabilize the robot behavior across tasks. Current evaluations on a subset of tasks demonstrate that our proposed reward function allows achieving the highest HumanoidBench scores while maintaining realistic posture and smooth control signals. Our code is publicly available and will become a part of MuJoCo MPC, enabling rapid prototyping of robot behaviors.
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
Department Aeronautics and Astronautics, Massachusetts Institute of Technology（航空宇航与工程力学系，麻省理工学院）；Google DeepMind（谷歌DeepMind）；Department of Electrical and Computer Engineering, Carnegie Mellon University（电气与计算机工程系，卡内基梅隆大学）；Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）
DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion
University of Texas at Arlington（德克萨斯大学阿灵顿分校）；Intelligent Autonomous Systems Lab（智能自主系统实验室）；German Research Center for AI (DFKI)（德国人工智能研究中心）；Automation & Control Institute (ACIN)（自动化与控制研究所）；Austrian Institute of Technology (AIT) GmbH（奥地利技术研究所）
Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot
Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia（人工智能与机械智能研究所）；School of Computer Science, University of Manchester（曼彻斯特大学计算机科学学院）
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究院（TeleAI），中国电信）；ShanghaiTech University（上海科技大学）；University of Science and Technology of China（中国科学技术大学）；Northwestern Polytechnical University（西北工业大学）；Tsinghua University（清华大学）
PartiGen: Part-Aware Representations for Language-Conditioned Humanoid Motion Generation
Fudan University（复旦大学）；Shanghai Innovation Institute（上海创新研究院）；Shanghai Jiaotong University（上海交通大学）；Zhejiang University（浙江大学）；Tongji University（同济大学）；The Chinese University of Hong Kong（香港中文大学）；Humanoid Robot (Shanghai) Co., Ltd.（人形机器人（上海）有限公司）；Beihang University（北京航空航天大学）
Intelligent Autonomous Systems, Department of Computer Science, Technical University of Darmstadt（德意志技术大学达姆施塔特分校计算机科学系智能自主系统研究中心）；Systems AI for Robot Learning, German Research Center for AI (DFKI)（德国人工智能研究中心（DFKI）机器人学习系统AI研究中心）；Hessian Center for Artificial Intelligence (hessian.AI)（黑森人工智能中心（hessian.AI））；Centre for Cognitive Science, Technical University of Darmstadt（德意志技术大学达姆施塔特分校认知科学中心）；Automation & Control Institute, TU Wien（维也纳技术大学自动化与控制研究所）；Austrian Institute of Technology (AIT), Vienna（奥地利技术研究所（AIT））；VinRobotics and VinUniversity（VinRobotics和Vin大学）
mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo
CNRS-AIST JRL (Joint Robotics Laboratory) IRL（法国国家科学研究中心-产业技术综合研究所联合机器人实验室国际联合研究室）；National Institute of Advanced Industrial Science and Technology (AIST)（产业技术综合研究所）；University of Tsukuba（筑波大学）
Biomechanical Comparisons Reveal Divergence of Human and Humanoid Gaits
Zhejiang University（浙江大学）；School of Engineering, Westlake University（西湖大学工程学院）；Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences（中国科学院宁波材料技术与工程研究所）
RGB: RL Guided Whole-Body MPPI for Humanoid Control
Center for Humanoid Research, Korea Institute of Science and Technology (KIST)（韩国科学技术研究院（KIST）仿人机器人研究中心）；University of Texas at Austin（德克萨斯大学奥斯汀分校）；Department of Mechanical Engineering, Yonsei University（延世大学机械工程系）；School of Electrical Engineering, Korea University（高丽大学电气工程学院）
HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mamba
College of Graduate and Professional Studies, Trine University（特灵大学研究生与专业研究学院）；Department of Civil Engineering, University of Hong Kong（香港大学土木工程系）；Faculty of Engineering and Information Technology, University of Technology Sydney（悉尼大学工程与信息技术学院）；National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University（吉林大学汽车底盘集成与生物仿生国家重点实验室）；School of Computer Science and Statistics, Trinity College Dublin（都柏林信任学院计算机科学与统计学系）
Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia（人类合作与康复软机器人，意大利技术研究院）；Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia（人形与以人类为中心的机电一体化，意大利技术研究院）；Department of Bioengineering, Imperial College London（生物工程系，伦敦帝国理工学院）
