Author

Zi-Cheng Zeng

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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