Xuxin Cheng

xucheng [at] ucsd.edu

I am a 2nd year PhD student at UC San Diego advised by Prof. Xiaolong Wang. I earned my M.S. in Robotics at CMU advised by Prof. Deepak Pathak. I also worked with Prof. Koushil Sreenath at UC Berkeley. I am interested in building real-world robot systems.

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

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News


Research

* denotes equal contribution

Exbody2: Advanced Expressive Humanoid Whole-Body Control


Mazeyu Ji*, Xuanbin Peng*, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, Xiaolong Wang

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

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 

Automated Lane Change Strategy using Deep Reinforcement Learning


Fei Ye*, Xuxin Cheng*, Pin Wang, Ching-Yao Chan
Intelligent Vehicles Symposium (IV) 2020

arXiv | IEEE | BibTeX



Course Projects

Learning Precise Foot Placement Skills with HZD-based Gait Library for Legged Robots


CS285 Deep Reinforcement Learning

Computer Vison and Computational Photography


CS194 Image Manipulation, Computer Vision and Computational Photography (Spring 2020)

[Project page]  [Code] 

In this project collection, I implemented several state-of-the-art algorithms to manipulate photos and videos.

Campus Life Planner and Navigator


Introduction to Software Engineering (Fall 2018)

[Code]  [Video] 

CLPN-BIT is a Wechat Mini-Program including features of schedule planning and campus navigation inside Beijing Institute of Technology. CLPN stands for "Campus Life Planner and Navigator".






source code       credits