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README.md
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---
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license: mit
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datasets:
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- chrisyrniu/human2locoman
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pipeline_tag: robotics
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tags:
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- Human
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- Pretraining
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- Manipulation
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---
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<h1 align="center">
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Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
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</h1>
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<p align="center">
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<img src="https://raw.githubusercontent.com/chrisyrniu/Human2LocoMan/main/doc/figures/logo.png" width="100" />
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</p>
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<p align="center">
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<a href="https://chrisyrniu.github.io/" target="_blank">Yaru Niu</a><sup>1,*</sup>
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<a href="https://human2bots.github.io/" target="_blank">Yunzhe Zhang</a><sup>1,*</sup>
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<a href="https://human2bots.github.io/" target="_blank">Mingyang Yu</a><sup>1</sup>
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<a href="https://linchangyi1.github.io/" target="_blank">Changyi Lin</a><sup>1</sup>
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<a href="https://human2bots.github.io/" target="_blank">Chenhao Li</a><sup>1</sup>
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<a href="https://scholar.google.com/citations?user=7ZZ9fOIAAAAJ&hl=zh-CN" target="_blank">Yikai Wang</a><sup>1</sup>
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<br />
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<a href="https://yxyang.github.io/" target="_blank">Yuxiang Yang</a><sup>2</sup>
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<a href="https://wenhaoyu.weebly.com/" target="_blank">Wenhao Yu</a><sup>2</sup>
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<a href="https://research.google/people/tingnanzhang/?&type=google" target="_blank">Tingnan Zhang</a><sup>2</sup>
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<a href="https://scholar.google.com/citations?user=6LYI6uUAAAAJ&hl=en" target="_blank">Zhenzhen Li</a><sup>3</sup>
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<a href="https://jonfranc.com/" target="_blank">Jonathan Francis</a><sup>1,3</sup>
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<a href="https://scholar.google.com/citations?user=LYt_2MgAAAAJ&hl=en" target="_blank">Bingqing Chen</a><sup>3</sup>
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<br />
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<a href="https://www.jie-tan.net/" target="_blank">Jie Tan</a><sup>2</sup>
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<a href="https://www.meche.engineering.cmu.edu/directory/bios/zhao-ding.html" target="_blank">Ding Zhao</a><sup>1</sup>
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<br />
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<sup>1</sup>Carnegie Mellon University
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<sup>2</sup>Google DeepMind
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<sup>3</sup>Bosch Center for AI
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<br />
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<sup>*</sup>Equal contributions
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</p>
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<p align="center">
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Robotics: Science and Systems (RSS) 2025<br />
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<a href="https://human2bots.github.io/">Website</a> |
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<a href="https://www.arxiv.org/pdf/2506.16475">Paper</a> |
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<a href="https://github.com/chrisyrniu/Human2LocoMan">Code</a>
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</p>
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<p align="center">
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<img src="https://raw.githubusercontent.com/chrisyrniu/Human2LocoMan/main/doc/figures/system_overview.png" alt="Descriptive Alt Text" width="70%"/>
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</p>
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---
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