publications

Research on safe locomotion and embodied robot learning.

2026

  1. ATHLETE: Learning Reactive Humanoid Tennis via Trajectory-Guided Motion Matching
    Zhihao Tian, Zifan Wang, Enzheng Zhu, and 4 more authors
    Under review, 2026
    Zhihao Tian and Zifan Wang contributed equally.
    arXiv HTML PDF
  2. One Motion, Diverse Strokes: A Kinematics-Aware Adaptive Event Prior for Vision-Guided Humanoid Tennis Striking
    Xun Yang and others
    2026
    Under review.
  3. GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
    Yufei Jia, Heng Zhang, Ziheng Zhang, and 39 more authors
    In Robotics: Science and Systems (RSS), 2026
    arXiv HTML PDF

2025

  1. End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
    Zifan Wang, Xun Yang, Jianzhuang Zhao, and 5 more authors
    arXiv preprint arXiv:2508.07611, 2025
    Zifan Wang and Xun Yang contributed equally.
    arXiv HTML PDF
  2. Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
    Zifan Wang, Teli Ma, Yufei Jia, and 5 more authors
    In Conference on Robot Learning (CoRL), 2025
    Oral presentation, Top 5%.
    arXiv HTML PDF