| | Franka | humanoid robot Digit | ANYmal + arm | ANYmal (using feet for manipulation) | Unitree Go2 + arm | Unitree Go1 + arm | Unitree B1 + arm | Xbot | UR5e Robot | Berkeley BLUE Robot arm | Shadow Dexterous Hand | Fourier GR-1 Humanoid Robot | A2Single | DEX-EE Hand | ALOHA | Unitree H1 | Unitree G1 | Franka Emika | Toyota HSR robot | Unitree Aliengo + Z1 arm | Aliengo (Using feet for manipulation) | | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | | MuJoCo | Curriculum Design and Sim2Real Transfer for Reinforcement Learning in Robotic Dual-Arm Assembly

Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning | Sim-to-Real Learning for Humanoid Box Loco-Manipulation | | | | | | | | DoorGym: A Scalable Door Opening Environment and Baseline Agent | Solving Rubik's Cube with a Robot Hand

Learning Dexterous In-Hand Manipulation

Learning to Solve a Rubik’s Cube with a Dexterous Hand | | | DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots | Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware | | FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation | | | | | | IsaacGym/IsaacSim | | | Learning to Open and Traverse Doors with a Legged Manipulator

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation | Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg | UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers | Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion | Learning Force Control for Legged Manipulation

Visual Whole-Body Control for Legged Loco-Manipulation | HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation | | | | Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids | | | | Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space | AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control | | | | Learning Visual Quadrupedal Loco-Manipulation from Demonstrations | | PyBullet | | | | | | | | | Transporter Networks: Rearranging the Visual World for Robotic Manipulation | | | | | | | | | | | | | | RaiSIM | | | | | | | | | | | | | | | | | | | | | | | Gazebo | | | | | | | | | | | | | | | | | | | | | | | SAPIEN / ManiSkill | | | | | | | | | | | | | Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning | | | | | Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations | Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning | Learning Generalizable Manipulation Policy with Adapter-Based Parameter Fine-Tuning | | | Unity | | | | | | | | | | DoorGym: A Scalable Door Opening Environment and Baseline Agent | | | | | | | | | | | | | CoppeliaSim | | | | | | | | | | | | | | | | | | | | | | | iGibson | | | | | | | | | | | | | | | | | | | | | | | Robosuite | Curriculum Design and Sim2Real Transfer for Reinforcement Learning in Robotic Dual-Arm Assembly | | | | | | | | | | | | | | | | | | | | |

$\color{#d88609}\rule{10px}{10px}$ Only simulation based, no evidence of sim2real deployment.

$\color{#0071cf}\rule{10px}{10px}$ Hardware experiments only done in a specific robot (Generalizable manipulation policy)

Note: We only list the latest commercially available or open‐source versions of legged robots that have been used by multiple research labs. If you know of any additional papers or repositories that are not shown here, feel free to open a pull request.