PHUMA: Physically Reliable Humanoid Locomotion Dataset
cs.RO
Submitted: 2025-10-30
Updated: 2026-10-12
Code: https://github.com/stephane-caron/pink
Project page: https://davian-robotics.github.io/PHUMA
Terminology
Sources
- Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
- BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
- Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
- Motion-X++: A Large-Scale Multimodal 3D Whole-body Human Motion Dataset
- From Generated Human Videos to Physically Plausible Robot Trajectories
- Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots
- HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videos
- HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
- SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control
- Learning Humanoid Locomotion over Challenging Terrain
- ExBody2: Advanced Expressive Humanoid Whole-Body Control
- GMT: General Motion Tracking for Humanoid Whole-Body Control
- CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
- SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
- OmniTrack: General Motion Tracking via Physics-Consistent Reference
- OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
- Kimodo: Scaling Controllable Human Motion Generation
- ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
- VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
- PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Related papers
- FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
- MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
- RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
- ARC: A Reasoning Recipe for Robot Foundation Models
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies