Research
* denotes equal contribution
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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
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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
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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
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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
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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
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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
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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
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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
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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
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Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng, Ashish Kumar, Deepak Pathak
ICRA 2023
Webpage | arXiv | Video | Media
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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
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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
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