Xuxin Cheng

xucheng [at] ucsd.edu

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

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

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News



Research


* denotes equal contribution

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 






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