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"沿用人工复核“同类量化增量”15/20。" } }, "current_practice_as_of": "2026-07-19", "current_practice_age_months": 5, "current_practice_recency_window": "0–12 个月", "current_practice_priority": "high_potential", "current_practice_tier": "高潜待持续验证", "current_practice_tags": [ "可能成为新主流", "颠覆性分支" ], "current_practice_evidence_gaps": [ "缺少显式可复查社区复现/部署证据" ], "publication_events": [ { "type": "arxiv_v1", "published_at": "2026-02-10" }, { "type": "arxiv_v2", "published_at": "2026-06-04" } ], "metadata_reviewed_at": "2026-07-19", "metadata_review_source": "/data/tech/reviews/paper-metadata-batch-01.json" }, { "id": "legacy-e3f150ca09a0", "project_id": null, "title": "HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation", "authors": [ "Zhanxiang Cao", "Liyun Yan", "Yang Zhang", "Sirui Chen", "Jianming Ma", "Tianyue Zhan", "S. Fu", "Yufei Jia", "CeWu Lu", "Yue Gao" ], "institutions": [], "robots": [], "published_at": "2026-02-06", "first_seen_at": "2026-07-19", "last_verified_at": "2026-07-19", "venue": "arXiv", "work_type": "paper", "topic": "Loco-manipulation", "comparison_family": null, "doi": "10.48550/arxiv.2602.06341", "arxiv_id": "2602.06341", "citation_count": 0, "open_access": true, "verification_status": "metadata_verified", "artifact_status": { "code": "unknown", "weights": "unknown", "data": "unknown", "license": "unknown" }, "sources": [ { "type": "paper", "label": "论文", "url": "https://arxiv.org/abs/2602.06341" }, { "type": "paper", "label": "论文原文/出版页", "url": "http://arxiv.org/abs/2602.06341" }, { "type": "metadata", "label": "OpenAlex 元数据", "url": "https://openalex.org/W7128408464" }, { "type": "paper", "label": "论文原文/出版页", "url": "https://doi.org/10.48550/arxiv.2602.06341" }, { "type": "metadata", "label": "OpenAlex 元数据", "url": "https://openalex.org/W7128373964" } ], "discovery_sources": [ "OpenAlex search: Loco-manipulation", "legacy kg/papers_data.json" ], "published_at_precision": "day", "quality_flags": [], "record_status": "included" }, { "id": "legacy-c0b9c613ba1a", "project_id": null, "title": "MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation", "authors": [], "institutions": [], "robots": [], "published_at": "2026-02-01", "first_seen_at": "2026-07-19", "last_verified_at": "2026-07-19", "venue": "arXiv", "work_type": "paper", "topic": "人形全身运动跟踪", "comparison_family": null, "doi": null, "arxiv_id": "2602.08594", "citation_count": 0, "open_access": true, "verification_status": "metadata_verified", "artifact_status": { "code": "verified_open", "weights": "verified_open", "data": "verified_open", "license": "verified" }, "sources": [ { "type": "paper", "label": "论文", "url": "https://arxiv.org/abs/2602.08594" }, { "type": "code", "label": "官方代码", "url": "https://github.com/BAAI-Humanoid/MOSAIC", "verification_status": "verified", "official_owner": "BAAI Humanoid MOSAIC project team", "license": "Apache-2.0", "access_status": "open_source", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." }, { "url": "https://huggingface.co/datasets/BAAI-Humanoid/MOSAIC_Dataset", "type": "dataset", "label": "官方数据", "verification_status": "verified", "official_owner": "BAAI Humanoid MOSAIC project team", "license": "CDLA-Permissive-2.0", "access_status": "verified_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." }, { "url": "https://huggingface.co/BAAI-Humanoid/MOSAIC_Model", "type": "weights", "label": "官方数据", "verification_status": "verified", "official_owner": "BAAI Humanoid MOSAIC project team", "license": "Apache-2.0", "access_status": "verified_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." } ], "discovery_sources": [ "legacy kg/papers_data.json" ], "published_at_precision": "month", "quality_flags": [], "record_status": "included", "artifact_reviews": [ { "artifact_type": "code", "url": "https://github.com/BAAI-Humanoid/MOSAIC", "license": "Apache-2.0", "dependencies": [ "Python 3.10", "PyTorch 2.5.1", "CUDA 12.1", "Isaac Sim 4.5.0", "Isaac Lab 2.1.0", "RobotBridge" ], "hardware": [ "Unitree G1/H1-2 or PND Adam", "PICO or Noitom interface for released adaptors" ], "real_robot_evidence": [ "Primary paper and official project report long-horizon real-robot teleoperation; no independent reproduction established." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "access_status_detail": null, "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." }, { "artifact_type": "dataset", "url": "https://huggingface.co/datasets/BAAI-Humanoid/MOSAIC_Dataset", "license": "CDLA-Permissive-2.0", "dependencies": [ "MOSAIC motion preprocessing", "upstream AMASS/OMOMO downloads for the full multi-source recipe" ], "hardware": [ "Motion sources and interface adaptor data for supported humanoids" ], "real_robot_evidence": [ "Released adaptor data supports the paper's real-interface residual adaptation; full multi-source reconstruction still requires upstream datasets." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "access_status_detail": null, "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." }, { "artifact_type": "weights", "url": "https://huggingface.co/BAAI-Humanoid/MOSAIC_Model", "license": "Apache-2.0", "dependencies": [ "ONNX Runtime", "MOSAIC or RobotBridge runtime" ], "hardware": [ "Unitree G1/H1-2 or PND Adam; interface-specific Noitom/PICO models are provided" ], "real_robot_evidence": [ "Official model repository provides GMT, Noitom and PICO ONNX files associated with the paper's hardware results." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-02.json", "access_status_detail": null, "scope_limit": "Deployment is not self-contained in the candidate repository and requires RobotBridge. Public AMASS and OMOMO inputs retain upstream terms even though the MOSAIC-added dataset uses CDLA-Permissive-2.0. No independent hardware reproduction was verified." } ] }, { "id": "legacy-c1562b5077f2", "project_id": null, "title": "HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control", "authors": [], "institutions": [], "robots": [], "published_at": "2026-02-01", "first_seen_at": "2026-07-19", "last_verified_at": "2026-07-19", "venue": "arXiv", "work_type": "paper", "topic": "人形全身运动跟踪", "comparison_family": null, "doi": null, "arxiv_id": "2602.03205", "citation_count": 0, "open_access": true, "verification_status": "metadata_verified", "artifact_status": { "code": "verified_available", "weights": "verified_open", "data": "verified_open", "license": "verified" }, "sources": [ { "type": "paper", "label": "论文", "url": "https://arxiv.org/abs/2602.03205" }, { "type": "code", "label": "官方代码", "url": "https://github.com/TeleHuman/humanoid_skateboarding", "verification_status": "verified", "official_owner": "TeleHuman HUSKY project team", "license": "CC-BY-NC-4.0", "access_status": "source_available_restricted", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." }, { "url": "https://github.com/TeleHuman/humanoid_skateboarding/tree/main/dataset", "type": "dataset", "label": "官方数据", "verification_status": "verified", "official_owner": "TeleHuman HUSKY project team", "license": "CC-BY-NC-4.0", "access_status": "verified_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." }, { "url": "https://github.com/TeleHuman/humanoid_skateboarding/tree/main/ckpts", "type": "weights", "label": "官方数据", "verification_status": "verified", "official_owner": "TeleHuman HUSKY project team", "license": "CC-BY-NC-4.0", "access_status": "verified_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." } ], "discovery_sources": [ "legacy kg/papers_data.json" ], "published_at_precision": "month", "quality_flags": [], "record_status": "included", "artifact_reviews": [ { "artifact_type": "code", "url": "https://github.com/TeleHuman/humanoid_skateboarding", "license": "CC-BY-NC-4.0", "dependencies": [ "Ubuntu 22.04", "CUDA 13.0", "MjLab 1.0.0", "MuJoCo Warp", "RSL-RL" ], "hardware": [ "Unitree G1", "NVIDIA GPU", "physical skateboard only for real deployment" ], "real_robot_evidence": [ "Official Unitree G1 skateboard experiments; released repository does not include a complete hardware deployment procedure." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." }, { "artifact_type": "dataset", "url": "https://github.com/TeleHuman/humanoid_skateboarding/tree/main/dataset", "license": "CC-BY-NC-4.0", "dependencies": [ "NumPy", "HUSKY motion loader" ], "hardware": [ "No robot required to inspect bundled NPY reference motions" ], "real_robot_evidence": [ "Bundled motions support the official training pipeline; no independent sim-to-real validation was performed." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." }, { "artifact_type": "weights", "url": "https://github.com/TeleHuman/humanoid_skateboarding/tree/main/ckpts", "license": "CC-BY-NC-4.0", "dependencies": [ "HUSKY repository", "MjLab or MuJoCo evaluation path" ], "hardware": [ "Unitree G1 simulation model; real skateboard deployment is not packaged" ], "real_robot_evidence": [ "The official project shows real G1 results, but this review did not execute the released PT/ONNX files." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The released path documents training and simulation evaluation, not a complete real-skateboard deployment stack. Only small checked-in test checkpoints and motion arrays were verified; the full experimental training set is not separately versioned. The code and bundled artifacts are non-commercial. No independent physical-skateboard reproduction was found." } ] }, { "id": "legacy-9760d28ee598", "project_id": null, "title": "ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking /", "authors": [], "institutions": [], "robots": [], "published_at": "2026-02-01", "first_seen_at": "2026-07-19", "last_verified_at": "2026-07-19", "venue": "arXiv", "work_type": "paper", "topic": "人形全身运动跟踪", "comparison_family": null, "doi": null, "arxiv_id": "2602.06445", "citation_count": 0, "open_access": true, "verification_status": "metadata_verified", "artifact_status": { "code": "verified_open", "weights": "unknown", "data": "unknown", "license": "verified" }, "sources": [ { "type": "paper", "label": "论文", "url": "https://arxiv.org/abs/2602.06445" }, { "type": "project", "label": "项目页", "url": "https://sites.google.com/view/eco-humanoid" }, { "type": "code", "label": "官方代码", "url": "https://github.com/bigai-ai/ECO-humanoid", "verification_status": "verified", "official_owner": "ECO authors and BIGAI", "license": "BSD-3-Clause", "access_status": "open_source", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The repository README still contains an arXiv placeholder instead of the real 2602.06445 identifier. No pretrained checkpoint is released, so all reported baselines require retraining. The BRUCE Gazebo path depends on an external robot library not bundled in the repository. No independent energy benchmark reproduction was found." } ], "discovery_sources": [ "legacy kg/papers_data.json" ], "published_at_precision": "month", "quality_flags": [ "trailing_separator" ], "record_status": "needs_review", "artifact_reviews": [ { "artifact_type": "code", "url": "https://github.com/bigai-ai/ECO-humanoid", "license": "BSD-3-Clause", "dependencies": [ "Python 3.8", "PyTorch 1.13.1", "CUDA 11.7", "Isaac Gym Preview 4", "MuJoCo/Gazebo" ], "hardware": [ "BRUCE humanoid for documented real deployment", "NVIDIA GPU for training" ], "real_robot_evidence": [ "Official BRUCE sim-to-real evidence; no released checkpoint or independent reproduction." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The repository README still contains an arXiv placeholder instead of the real 2602.06445 identifier. No pretrained checkpoint is released, so all reported baselines require retraining. The BRUCE Gazebo path depends on an external robot library not bundled in the repository. No independent energy benchmark reproduction was found." } ] }, { "id": "legacy-12a72c3dcab5", "project_id": null, "title": "TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control", "authors": [], "institutions": [], "robots": [], "published_at": "2026-02-01", "first_seen_at": "2026-07-19", "last_verified_at": "2026-07-19", "venue": "arXiv", "work_type": "paper", "topic": "人形全身运动跟踪", "comparison_family": null, "doi": null, "arxiv_id": "2602.07439", "citation_count": 0, "open_access": true, "verification_status": "metadata_verified", "artifact_status": { "code": "verified_available", "weights": "verified_open", "data": "unknown", "license": "verified" }, "sources": [ { "type": "paper", "label": "论文", "url": "https://arxiv.org/abs/2602.07439" }, { "type": "code", "label": "官方代码", "url": "https://github.com/TeleHuman/TextOp", "verification_status": "verified", "official_owner": "TeleHuman TextOp project team", "license": "MIT", "access_status": "partially_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The README simultaneously announces an official release and warns that the latest code and dataset are not yet updated. The checked-in ONNX file is the low-level deployment policy, not proof that the complete text-to-motion stack is reproducible. External checkpoints and retargeted data have no declared artifact license and are not promoted. Training the tracker at the documented 16,384 environments requires roughly 40GB GPU memory." }, { "url": "https://github.com/TeleHuman/TextOp/blob/main/TextOpDeploy/src/textop_ctrl/models/policy.onnx", "type": "weights", "label": "官方数据", "verification_status": "verified", "official_owner": "TeleHuman TextOp project team", "license": "MIT", "access_status": "verified_open", "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "scope_limit": "The README simultaneously announces an official release and warns that the latest code and dataset are not yet updated. The checked-in ONNX file is the low-level deployment policy, not proof that the complete text-to-motion stack is reproducible. External checkpoints and retargeted data have no declared artifact license and are not promoted. Training the tracker at the documented 16,384 environments requires roughly 40GB GPU memory." } ], "discovery_sources": [ "legacy kg/papers_data.json" ], "published_at_precision": "month", "quality_flags": [], "record_status": "included", "artifact_reviews": [ { "artifact_type": "code", "url": "https://github.com/TeleHuman/TextOp", "license": "MIT", "dependencies": [ "ROS2 Foxy", "Python 3.8", "Isaac Lab 2.1.0", "PyTorch", "MuJoCo", "GMR" ], "hardware": [ "Unitree G1", "NVIDIA GPU; RTX 4090 tested", "ROS2-capable robot computer" ], "real_robot_evidence": [ "Official real-robot TextOp evidence; external full-model/data licensing remains unresolved." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The README simultaneously announces an official release and warns that the latest code and dataset are not yet updated. The checked-in ONNX file is the low-level deployment policy, not proof that the complete text-to-motion stack is reproducible. External checkpoints and retargeted data have no declared artifact license and are not promoted. Training the tracker at the documented 16,384 environments requires roughly 40GB GPU memory." }, { "artifact_type": "weights", "url": "https://github.com/TeleHuman/TextOp/blob/main/TextOpDeploy/src/textop_ctrl/models/policy.onnx", "license": "MIT", "dependencies": [ "TextOpDeploy ROS2/C++ control stack", "ONNX runtime path documented by the repository" ], "hardware": [ "Unitree G1 for the documented physical path" ], "real_robot_evidence": [ "Checked-in low-level policy corresponds to the official deployment stack; it is not the complete high-level text generator." ], "last_verified_at": "2026-07-19", "review_source": "/data/tech/reviews/paper-artifact-review-batch-03.json", "access_status_detail": null, "scope_limit": "The README simultaneously announces an official release and warns that the latest code and dataset are not yet updated. The checked-in ONNX file is the low-level deployment policy, not proof that the complete text-to-motion stack is reproducible. External checkpoints and retargeted data have no declared artifact license and are not promoted. 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