publications

Let there be light.

First / Co-first Author

2026

  1. Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
    Zhen Wu*, Xiaoyu Huang*, Lujie Yang*, and 9 more authors
    arXiv preprint arXiv:2602.15827 2026
    video paper Website

2025

  1. OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
    Lujie Yang*, Xiaoyu Huang*, Zhen Wu*, and 6 more authors
    arXiv preprint arXiv:2509.26633 2025
    video paper Website
  2. BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
    Qiayuan Liao*, Takara E Truong*, Xiaoyu Huang*, and 4 more authors
    arXiv preprint arXiv:2508.08241 2025
    video paper Website
  3. LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
    Haoru Xue*, Xiaoyu Huang*, Dantong Niu*, and 8 more authors
    arXiv preprint arXiv:2506.13751 2025
    video paper
  4. Diffuse-CLoC: Guided Diffusion for Physics-Based Character Look-Ahead Control
    Xiaoyu Huang*, Takara Truong*, Yunbo Zhang, and 5 more authors
    ACM Transactions on Graphics (TOG) 2025
    video paper Website

2024

  1. DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
    Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, and 5 more authors
    In 8th Annual Conference on Robot Learning (CoRL 2024) 2024
    video paper Website
  2. Leveraging Symmetry in RL-based Legged Locomotion Control
    Zhi Su*, Xiaoyu Huang*, Daniel Ordonez-Apraez, and 8 more authors
    In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
    video paper
  3. HILMA-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation
    Xiaoyu Huang, Qiayuan Liao, Yiming Ni, and 5 more authors
    In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
    video paper

2023

  1. Skill Transformer: A Monolithic Policy for Mobile Manipulation
    Xiaoyu Huang, Dhruv Batra, Akshara Rai, and 1 more author
    In Proceedings of the IEEE/CVF International Conference on Computer Vision 2023
    video paper
  2. Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
    Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, and 6 more authors
    In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
    video paper

Other Contributions

2026

  1. Flow Policy Gradients for Robot Control
    Brent Yi, Hongsuk Choi, Himanshu Gaurav Singh, and 9 more authors
    arXiv preprint arXiv:2602.02481 2026
    paper Website

2025

  1. LangWBC: Language-Directed Humanoid Whole-Body Control via End-to-End Learning
    Yiyang Shao, Xiaoyu Huang, Bike Zhang, and 6 more authors
    arXiv preprint arXiv:2504.21738 2025
    paper Website
  2. Demonstrating Berkeley Humanoid Lite: An Open-Source, Accessible, and Customizable 3D-Printed Humanoid Robot
    Yufeng Chi, Qiayuan Liao, Junfeng Long, and 5 more authors
    arXiv preprint arXiv:2504.17249 2025
    video paper Website
  3. Berkeley Humanoid: A Research Platform for Learning-based Control
    Qiayuan Liao, Bike Zhang, Xuanyu Huang, and 3 more authors
    In 2025 IEEE International Conference on Robotics and Automation (ICRA) 2025
    video paper Website

2024

  1. LabelAId: Just-in-time AI Interventions for Improving Human Labeling Quality and Domain Knowledge in Crowdsourcing Systems
    Chu Li, Zhihan Zhang, Michael Saugstad, and 7 more authors
    In Proceedings of the CHI Conference on Human Factors in Computing Systems 2024
    paper

2022

  1. DNNFuser: Generative Pre-Trained Transformer as a Generalized Mapper for Layer Fusion in DNN Accelerators
    Sheng-Chun Kao, Xiaoyu Huang, and Tushar Krishna
    arXiv preprint arXiv:2201.11218 2022
    paper