Author

Li Yi

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Preprint Sep 2026

PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

PASSAGE, a perception-conditioned planner--tracker framework for humanoid traversal, using virtual reality and inertial motion capture to collect 100 h of scene-aligned human motion across 1,500 cluttered scenes and tests across 50 unseen physical layouts demonstrate traversal without prebuilt maps or offboard computat...

Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al. · 1 citation

Jul 2026

Scaling Behavior Foundation Model for Humanoid Robots

This work revisits the scaling recipe for BFMs and demonstrates that substantial performance gains can be achieved through the coordination of three core components: the learning paradigm of motion tracking that reformulates diverse humanoid control problems as the reproduction of integrated whole-body behaviors in the...

Weishuai Zeng, Kangning Yin, Xiaojie Niu et al. · arXiv.org · 3 citations · ⚡1