Author

Tong Xu

3 papers indexed here

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Preprint Sep 2026

Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations

While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in obstacle-free space, traversal through densely cluttered environments remains underexplored. These spaces are three-dimensional and geometrically constrained, requiring scene-aware locomotion that tightly co...

Bei-Chen Wang, Tong Xu, Daniel Kosukhin et al. · 0 citations

Preprint Aug 2026

NeSAM: Neuro-Symbolic Kinodynamics with Soil Adaptation for Off-Road Mobility

Accurate prediction of off-road vehicle motion over deformable terrain remains challenging because sinkage, slip, and traction vary with local soil conditions. Existing learning-based kinodynamic models directly approximate vehicle-terrain interactions from data but do not explicitly represent soil mechanics and offer...

Chen-Hui Pan, Tong Xu, Francesco Cancelliere et al. · 1 citation · ⚡1

Preprint Sep 2026

Verti-WM: A Physics-Aided Exteroceptive World Model for Off-Road Reinforcement Learning

Reinforcement learning for off-road navigation requires extensive vehicle-terrain interaction data, which are costly to collect in high-fidelity simulation. World models offer a promising alternative by replacing simulator roll-outs during policy optimization. However, an off-road world model must condition state trans...

Chen-Hui Pan, Tong Xu, Xue-Su Xiao · 0 citations