Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer. - Hang Lai; Weinan Zhang 001; Xialin He; Chen Yu; Zheng Tian 002; Yong Yu 001; Jun Wang 012 (ICRA, 2023)

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning. - Tairan He; Zhengyi Luo 002; Xialin He; Wenli Xiao; Chong Zhang; Weinan Zhang 001; Kris M. Kitani; Changliu Liu; Guanya Shi (CoRL, 2024)

Visual Manipulation with Legs. - Xialin He; Chengjing Yuan; Wenxuan Zhou; Ruihan Yang; David Held; Xiaolong Wang 004 (CoRL, 2024)

Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies. - Yanjie Ze; Zixuan Chen; Wenhao Wang; Tianyi Chen; Xialin He; Ying Yuan; Xue Bin Peng; Jiajun Wu 001 (CoRR, 2024)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. - Zixuan Chen; Xialin He; Yen-Jen Wang; Qiayuan Liao; Yanjie Ze; Zhongyu Li 003; S. Shankar Sastry; Jiajun Wu 001; Koushil Sreenath; Saurabh Gupta; Xue Bin Peng (CoRR, 2024)

Learning Getting-Up Policies for Real-World Humanoid Robots. - Xialin He; Runpei Dong; Zixuan Chen; Saurabh Gupta 001 (CoRR, 2025)

SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation. - Zekun Qi; Wenyao Zhang; Yufei Ding 002; Runpei Dong; Xinqiang Yu; Jingwen Li; Lingyun Xu; Baoyu Li; Xialin He; Guofan Fan; Jiazhao Zhang; Jiawei He; et al. (CoRR, 2025)

AlphaOne: Reasoning Models Thinking Slow and Fast at Test Time. - Junyu Zhang; Runpei Dong; Han Wang; Xuying Ning; Haoran Geng; Peihao Li; Xialin He; Yutong Bai; Jitendra Malik; Saurabh Gupta 001; Huan Zhang (CoRR, 2025)