9 embodied-AI and robotics papers accepted at Humanoids 2026, 0 with code.9 篇被 Humanoids 2026 接收的具身智能与机器人论文，其中 0 篇附代码。
arXiv papers are listed when their arXiv comment says they were accepted (e.g. 'Accepted to CoRL 2026'); papers that do not say so are missing, and the list grows as authors post camera-ready versions. Curated entries carry a hand-checked venue. For CoRL 2026 the official program is used as well.arXiv 论文仅在其 arXiv 备注写明已被接收（如 “Accepted to CoRL 2026”）时列入；未注明的论文不会出现，列表会随作者上传终稿而增加。精选条目的会议/期刊信息经过人工核对。CoRL 2026 另依据官方日程。
Learns a reduced-order reference generator, then trains a whole-body tracker on its online rollouts, so one pair of policies covers many gaits. On a Unitree G1: -2.0 to 2.8 m/s, hopping and continuous transitions.先学习降阶模型参考生成器，再用其在线输出训练全身跟踪策略，一对策略即可覆盖多种步态。Unitree G1 实机实现 -2.0 到 2.8 m/s 行走、单腿跳与连续切换。
@misc{ghansah2026forge,
title = {{FORGE: Feasible Online Reduced-Order Reference Generation and Whole-Body Execution for Agile Humanoid Locomotion}},
author = {Adrian B. Ghansah and Yujin An and Jeeseop Kim and Soon-Jo Chung},
year = {2026},
eprint = {2610.37974},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2610.37974},
}
Fully linkage-driven humanoid hand with 3 actuated DoF per finger; a flexure hinge and spring-steel drive rods replace many tiny parts, so it prints on a budget 3D printer at near human-hand size.完全连杆驱动的人形灵巧手，每根手指 3 个主动自由度；用柔性铰链和弹簧钢驱动杆取代大量微型零件，可用入门级 3D 打印机制造，尺寸接近真人手。
@misc{adwani2026phd,
title = {{PHD-Hand: A Printable Humanoid Dexterous Hand with Linkage-Driven 3-DOA Digits}},
author = {Neel Adwani and Muhaiminul Islam Akash and Saffia Ouali and Ethan Liu and Cong Wang},
year = {2026},
eprint = {2610.29030},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2610.29030},
}
Unitree G1 walks at variable height (1.27–0.50 m) and crawls (0.50–0.20 m), with a learned transition policy between modes and a LiDAR planner that sets height targets for confined-space traversal on hardware.让 Unitree G1 在 1.27–0.50 米高度范围内变高步行、在 0.50–0.20 米范围内爬行，并用学习到的过渡策略在两种模式间切换；结合 LiDAR 规划器给出高度目标，在真机上穿越低矮受限空间。
@misc{xu2026reach,
title = {{REACH: An RL-based Hierarchical Humanoid Crawling Framework for Adaptable Confined Space Traversal}},
author = {Shengzhang Xu and Yuning Guo and Weiyi Hu and Yifeng Xu and Zhongyu Li and He Kong},
year = {2026},
eprint = {2610.36546},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2610.36546},
}
A stochastic motion tokenizer gives a high-level generator a compact interface to a whole-body tracking policy; reports better G1 motion reconstruction than FSQ/VQ-VAE and real dance/fight/walk sequences.用随机运动分词器把行为标签或文本生成的动作压缩成离散表示，直接作为全身跟踪策略的参考；报告在 Unitree G1 动作重建上优于 FSQ 与 VQ-VAE，并在真机上执行舞蹈、格斗、行走及 35 秒的格斗转舞蹈序列。
Emanuele Cuzzocrea, Giuseppina Iannotti, Luca Rossini, Arturo Laurenzi et al.
Abstract摘要
Robots are increasingly expected to execute natural-language manipulation tasks in real-world environments. This is particularly relevant in household assistance and logistics, where clutter requires reasoning about both task objectives and execution feasibility. This challenge becomes even more pronounced for bimanual humanoid platforms, where coordinating two manipulators introduces additional interaction and kinematic constraints. We present a zero-shot vision-language framework for execution-aware bimanual manipulation that jointly reasons about task objectives and physical feasibility. …
Athanasios Kyriakopoulos, Shubham S. Kumbhar, Kunal S. Narkhede, Abhijeet M. Kulkarni et al.
Abstract摘要
A fundamental aspect of humanoid footstep planning is to jointly guarantee obstacle avoidance and locomotion stability. This paper presents a capturability-aware sequential Model Predictive Control (MPC) framework for Linear Inverted Pendulum (LIP)-based humanoid footstep planning in the presence of obstacles. The proposed method combines obstacle avoidance with capturability constraints through safe corridors constructed as sequences of intersecting rectangles, yielding a sequential MPC framework with recursive feasibility guarantees for the LIP-based planning layer. The planner autonomously …
@misc{kyriakopoulos2026capturability,
title = {{Capturability-Aware Footstep Planning in Cluttered Environments: A Recursively Feasible Sequential MPC on Axis-Aligned Safe Corridors}},
author = {Athanasios Kyriakopoulos and Shubham S. Kumbhar and Kunal S. Narkhede and Abhijeet M. Kulkarni and Ioannis Poulakakis},
year = {2026},
eprint = {2611.10169},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2611.10169},
}
Wearable robots such as supernumerary robotic limbs (SRLs) can augment human capability, but their effectiveness depends strongly on the operator's sense of embodiment, comprising the sense of agency (SoA) and the sense of ownership (SoO). When an SRL is detached from the body so that the operator can act in two places at once, both the sense of agency and task performance tend to degrade. This paper presents the Multi-modal Embodiment Stimulation Shoulder Pad (MESSPa), a wearable interface that combines one-to-one motion transfer with spatially distributed pneumatic (balloon) haptic feedback …
@misc{vimolmongkolporn2026messpa,
title = {{MESSPa: A Multi-modal Embodiment Stimulation Shoulder Pad for Preserving the Sense of Agency in a Detachable Robotic Arm}},
author = {Vitvasin Vimolmongkolporn and Guillaume Gourmelen and Yukiko Iwasaki and Hiroyasu Iwata},
year = {2026},
eprint = {2611.00509},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2611.00509},
}
Roger Sala Sisó, Tiago Silvério, Jakob Sand, Tran Nguyen Le
Abstract摘要
Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for Vision-Language-Action (VLA) humanoid robots, which must handle execution errors, distribution shifts, and environmental variability. This paper presents DEED (Data-Efficient Post-Training and Experience-Driven Learning), a systems-level approach evaluated on a supermarket chip-restocking task using a Unitree G1-Edu humanoid robot and the GR00T N1.6 foundation model. DEED comprises three key components: (1) a data-efficient post-training pipeline with control-frequency alignment, …
@misc{siso2026closing,
title = {{Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids}},
author = {Roger Sala Sisó and Tiago Silvério and Jakob Sand and Tran Nguyen Le},
year = {2026},
eprint = {2607.20345},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2607.20345},
}
Peizhen Li, Longbing Cao, Megani Rajendran, Timothy Liu et al.
Abstract摘要
Equipping humanoid robots with coherent and adaptable personas is crucial for fostering natural, engaging, and trustworthy human-robot interaction (HRI). However, existing approaches often rely on static, hard-coded identities that lack the flexibility to adapt to individual user contexts. In this paper, we present PACE (Persona Adaptation through Conversational Elicitation), a novel framework for the interactive generation and deployment of structured personas on the Ameca humanoid robot. Our system introduces an Interactive Persona Elicitation Pipeline, enabling the robot to dynamically …
@misc{li2026pace,
title = {{PACE: Persona Adaptation through Conversational Elicitation in Human-Robot Interaction}},
author = {Peizhen Li and Longbing Cao and Megani Rajendran and Timothy Liu and Aik Beng Ng and Simon See},
year = {2026},
eprint = {2607.15579},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2607.15579},
}