Xuxin Cheng

xucheng [at] ucsd.edu

I am a final-year PhD student at UC San Diego working with Xiaolong Wang. I have had the opportunity to work with Deepak Pathak at CMU, as well as Koushil Sreenath, Pieter Abbeel at UC Berkeley. I build real-world robot systems.

I love snowboarding 🏂 and scuba diving 🤿 in my free time.

CV | GitHub | Google Scholar | Twitter

Highlights

Extreme Parkour: Live demo at CoRL 2023.	AMO: Full kinematic workspace control for humanoids.
OpenTeleVision: Coast-to-coast immersive teleoperation.	Human-as-Robot: Mixing human and humanoid data for scaling up robot learning.

News

[03/2025] Multiple work featured on Nvidia GTC
[06/2024] Invited talk at Covariant
[03/2024] Invited talk at UMich Computer Vision Seminar
[02/2024] Invited talk at Mila Robot Learning Seminar
[10/2023] Invited talk at Stanford REAL Lab

Research

* denotes equal contribution

	AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control Jialong Li,Xuxin Cheng,Tianshu Huang,Shiqi Yang,Ri-Zhao Qiu,Xiaolong Wang RSS 2025 Webpage \| arXiv \| Video \| BibTeX
	Humanoid Policy ~ Human Policy Ri-Zhao Qiu,Shiqi Yang,Xuxin Cheng,Chaitanya Chawla,Jialong Li,Tairan He,Ge Yan,David J. Yoon,Ryan Hoque,Lars Paulsen,Ge Yang,Jian Zhang,Sha Yi,Guanya Shi,Xiaolong Wang arXiv 2025* Webpage \| arXiv \| BibTeX
	Exbody2: Advanced Expressive Humanoid Whole-Body Control Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, Xiaolong Wang arXiv 2025 Webpage \| arXiv \| Video \| BibTeX
	Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control Chenhao Lu, Xuxin Cheng, Jialong Li, Shiqi Yang, Mazeyu Ji, Chengjing Yuan, Ge Yang, Sha Yi, Xiaolong Wang ICRA 2025* Webpage \| arXiv \| Code \| Video \| BibTeX
	Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu, Zipeng Fu, Xuxin Cheng, Xiaolong Wang, Chelsea Finn arXiv 2024 Webpage \| arXiv \| Video \| BibTeX
	Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang CoRL 2024 Webpage \| arXiv \| Code \| Video \| Media \| BibTeX
	ACE: A Cross-platform Visual-Exoskeletons for Low-Cost Dexterous Teleoperation Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang CoRL 2024 Webpage \| arXiv \| Code \| Video \| BibTeX
	Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ruihan Yang, Xiaolong Wang CoRL 2024 (Oral) Webpage \| arXiv \| Code \| Video \| BibTeX
	Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang, Xiaolong Wang RSS 2024 Webpage \| arXiv \| Code \| Video \| BibTeX
	Extreme Parkour with Legged Robots Xuxin Cheng, Kexin Shi, Ananye Agarwal, Deepak Pathak ICRA 2024 CoRL 2023 Generalist / Roboletics / Deployable Workshop (Oral) Webpage \| arXiv \| Code \| Video \| Media \| BibTeX
	Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion Xuxin Cheng, Ashish Kumar, Deepak Pathak ICRA 2023 Webpage \| arXiv \| Video \| Media \| BibTeX
	Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu, Xuxin Cheng, Deepak Pathak CoRL 2022 (Oral, Best System Paper Finalist) Webpage \| arXiv \| Video \| Media \| BibTeX
	Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath ICRA 2021 Webpage \| arXiv\| IEEE \| Video \| BibTeX Media: MIT Tech Review \| TechXplore \| DeepTech \| Inceptive Mind \| Freethink \| Unite.AI \| Singularity Hub