Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing control policies for fixed robot structures, this position paper argues for evolving both control strategies and humanoid robots' physical structure under a co-design mechanism. Inspired by biological evolution, this approach enables robots to iteratively adapt both their form and behavior to optimize performance within task-specific and resource-constrained contexts. Despite its promise, co-design in humanoid robotics remains a relatively underexplored domain, raising fundamental questions about its feasibility and necessity in achieving true embodied intelligence. To address these challenges, we propose practical co-design methodologies grounded in strategic exploration, Sim2Real transfer, and meta-policy learning. We further argue for the essential role of co-design by analyzing it from methodological, application-driven, and community-oriented perspectives. Striving to guide and inspire future studies, we present open research questions, spanning from short-term innovations to long-term goals. This work positions co-design as a cornerstone for developing the next generation of intelligent and adaptable humanoid agents.
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
GenerativeBionics（生成生物技术）；Artificial and Mechanical Intelligence（人工与机械智能）；School of Computer Science, University of Manchester（曼彻斯特大学计算机科学学院）；Humanoid Sensing and Perception（人形感知与感知）；iCub Tech Facility（iCub技术设施）；DiMEILA, Istituto Nazionale Assicurazione Infortuni sul Lavoro (INAIL)（DiMEILA，意大利国家职业伤害保险机构（INAIL））
Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Beijing Academy of Artificial Intelligence（北京人工智能研究院）；AgiBot；School of Computer Science, Peking University（北京大学计算机学院）
Peking University（北京大学）；Carnegie Mellon University（卡内基梅隆大学）；Tongji University（同济大学）；University of California, Los Angeles（加利福尼亚大学洛杉矶分校）；University of Michigan（密歇根大学）
MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
X-Humanoid；The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；The University of Hong Kong（香港大学）；Tsinghua University（清华大学）；The Chinese University of Hong Kong（香港中文大学）；Shanghai Jiao Tong University（上海交通大学）；The Australian National University（澳大利亚国立大学）
SynAgent: Generalizable Cooperative Humanoid Manipulation via Solo-to-Cooperative Agent Synergy
School of Computer Science and Engineering, Nanjing University of Science and Technology（南京理工大学计算机科学与工程学院）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；School of Artificial Intelligence, Beijing Normal University（北京师范大学人工智能学院）；Department of Automation, Tsinghua University（清华大学自动化系）；College of Artificial Intelligence, Nanjing Forestry University（南京林业大学人工智能学院）
Mapping Embodied Affective Touch Strategies on a Humanoid Robot
Faculty of Engineering and Architecture（工程与建筑学院）；IDLab-AIRO, Ghent University – imec（IDLab-AIRO，根特大学 – imec）；Italian Institute of Technology（意大利理工学院）；School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology（电气工程与计算机科学学院，皇家理工学院）
Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation
Embodied AI and Robotics (AIR) Lab, New York University, New York, USA and NYUAD Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE（纽约大学Embodied AI和机器人实验室及纽约大学阿布扎赫尔人工智能与机器人中心）；Harvard AI and Robotics Lab, Harvard University, Boston, USA（哈佛大学人工智能与机器人实验室）；Department of Computer Science, University College London, London, UK（伦敦大学学院计算机科学系）；Department of Computer Science, University of Liverpool, UK（利物浦大学计算机科学系）；NYUAD Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE（纽约大学阿布扎赫尔人工智能与机器人中心）
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
University of California San Diego（加州大学圣地亚哥分校）；Carnegie Mellon University（卡内基梅隆大学）；Hillbot（Hillbot公司）；TU Dresden（德累斯顿技术大学）；Tsinghua University（清华大学）；King’s College London（伦敦国王学院）
PR2: A Physics- and Photo-realistic Humanoid Testbed with Pilot Study in Competition
State Key Laboratory of General Artificial Intelligence（一般人工智能国家重点实验室）；Beijing Institute for General Artificial Intelligence (BIGAI)（一般人工智能北京研究院）；School of Future Science and Engineering（未来科学与工程学院）；Soochow University（苏州大学）；Department of Computer Science（计算机科学系）；Harbin Institute of Technology（哈尔滨工业大学）；School of Mechatronics Engineering（机械电子工程学院）
Neural Brain: A Neuroscience-inspired Framework for Embodied Agents
School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院）；School of Artificial Intelligence and Robotics, Hunan University（湖南大学人工智能与机器人学院）；School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）智能科学与工程学院）；Department of Information and Communication Technology, University of Agder（阿格德大学信息与通信技术系）；Department of Information Engineering and Computer Science, University of Trento（特伦特大学信息工程与计算机科学系）；Elm Company（Elm公司）；Division of Computational Science and Technology, KTH Royal Institute of Technology（皇家理工学院计算科学与技术系）；School of Artificial Intelligence and Data Science, Sejong University（世宗大学人工智能与数据科学学院）；Department of Computer Science of the University of Western Australia（西澳大学计算机科学系）；College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院）
Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
Nanjing University（南京大学）；Beihang University（北京航空航天大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；BMW (Nanjing) Information Technology Co., Ltd.（宝马（南京）信息技术有限公司）；University of Rochester（罗切斯特大学）
Istituto Italiano di Tecnologia（意大利理工学院）；The University of Manchester（曼彻斯特大学）
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This paper takes one step further by considering robot hardware parameters as optimization variables in the problem of collaborative payload lifting. The variables that parametrize robot's kinematics and dynamics ensure their physical consistency, and the human model is considered in the optimization problem. By leveraging the proposed modelling framework, the ergo…
PhysBrain: Human Egocentric Data as a Bridge from Vision Language Models to Physical Intelligence
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Zhongguancun Academy（中关村学院）；Zhongguancun Institute of Artificial Intelligence（中关村人工智能研究院）；Harbin Institute of Technology（哈尔滨工业大学）；Huazhong University of Science and Technology（华中科技大学）
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））；Harbin Institute of Technology（哈尔滨工业大学）；DexForce Technology（DexForce科技）；Southeast University（东南大学）
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Hong Kong University of Science and Technology（香港科技大学）；Beijing Institute of Technology（北京理工大学）；ETH Zurich（苏黎世联邦理工学院）；Nanyang Technological University（南洋理工大学）；X-Humanoid（人形智能科技公司）
