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| Full-Spatial Constraints | Intricate Geometry Handling |
|---|---|
| Indoor environments impose constraints at multiple spatial levels. Obstacles can appear simultaneously at the ground, lateral, and overhead levels, restricting humanoid motion in all spatial dimensions and requiring coordinated whole-body movement. | The method handles complex and irregular obstacle geometries that commonly appear in real-world environments, going beyond simplified primitives such as cubes or regular polyhedra used in many prior benchmarks. |
1@misc{xue2026collisionfreehumanoidtraversalcluttered,
2 title = {Collision-Free Humanoid Traversal in Cluttered Indoor Scenes},
3 author = {Xue, Han and Liang, Sikai and Zhang, Zhikai and Zeng, Zicheng and Liu, Yun and Lian, Yunrui and Wang, Jilong and Liu, Qingtao and Shi, Xuesong and Li, Yi},
4 year = {2026},
5 eprint = {2601.16035},
6 archivePrefix= {arXiv},
7 primaryClass = {cs.RO},
8 url = {https://arxiv.org/abs/2601.16035}
9}
10
11---
12
13## Versioned Checkpoints
14
15- `logs_v0/`: original checkpoint release.
16- `logs_v1/`: Generalist v1 checkpoint release.
17- `logs_v1/generalist_v1/`: main Generalist v1 checkpoint.
18