Author

Xue-Su Xiao

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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 Sep 2026

Demonstration Synthesis from a Single Scan via Gaussian Splatting for Visuomotor Policy Learning

Training a visuomotor policy calls for abundant demonstrations that closely match the target environment, yet collecting them anew remains expensive. Existing demonstration synthesis methods reduce this cost but remain constrained by high manual effort, limited visual fidelity, or heavy reliance on physics simulators....

Bei-Chen Wang, Yuen-Hei Yeung, V. R. Sridhar Devarakonda et al. · 0 citations