Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations

arXiv:2609.21107 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Distillation — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Clustering — 3× in this paper · explained in 2 episodes
• Core — 3× in this paper · explained in 2 episodes
• Moving Through Clutter — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Hallucination — 2× in this paper · explained in 3 episodes
• Virtual Reality — 2× in this paper
• APEX — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Kernel Density Estimation — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Teacher-Student Distillation — 1× in this paper · explained in 2 episodes

Sources

• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
• APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
• MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation
• HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
• Visual Imitation Enables Contextual Humanoid Control
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion

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