Xialin He

Lead Author Publications

	Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta arxiv2025 arxiv / video / website / We proposes a learning framework for humanoid fall recovery. The method has two stages: first, discovering getting-up trajectories, then refining them for smoothness and robustness. The approach is successfully tested on a real G1 humanoid robot.
	Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng arxiv2024* arxiv / video / code / website / We introduce Lipschitz-Constrained Policies (LCP), a method for achieving smooth locomotion in legged robots by enforcing a Lipschitz constraint on the policy. LCP eliminates the need for non-differentiable smoothing techniques, offering a simpler and robust solution applicable across diverse humanoid robots.
	OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, Guanya Shi CoRL2024* arxiv / video / dataset / website / We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands and also enables full autonomy by learning from teleoperated demonstrations or integrating with frontier models such as GPT-4o
	Visual Manipulation with Legs Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang CoRL2024 arxiv / video / website / We propose a system that enables quadruped to manipulate objects with legs. We use reinforcement learning to train a policy to interact with the object based on point cloud observations, which demonstrates advanced manipulation skills with legs that has not been shown in previous work.

Other Publications

SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation

Zekun Qi*, Wenyao Zhang*, Yufei Ding*, Runpei Dong, Xinqiang Yu, Jingwen Li, Lingyun Xu, Baoyu Li, Xialin He, Guofan Fan, Jiazhao Zhang, Jiawei He, Jiayuan Gu, Xin Jin, Kaisheng Ma, Zhizheng Zhang, He Wang, Li Yi
arxiv2025
arxiv / video / code / website /

This paper proposes semantic orientation, using natural language to describe object orientations intuitively. The authors built OrienText300K, a dataset of 3D models with semantic annotations. Integrating this into a VLM system improves robotic manipulation, achieving 48.7% accuracy on Open6DOR and 74.9% on SIMPLER.

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
arxiv2024
arxiv / video / code / website /

We developed the Improved 3D Diffusion Policy (iDP3), a 3D visuomotor policy that enables humanoid robots to perform autonomous tasks in varied real-world settings. Unlike traditional models, iDP3 operates without the need for camera calibration or point-cloud segmentation by utilizing egocentric 3D visual representations. This approach allows for effective performance using only lab-collected data.

sim-to-real transfer for quadrupedal locomotion via terrain transformer

Hang lai, Weinan Zhang, Xialin He, Chen Yu, Zheng Tian, Yong Yu, Jun Wang
ICRA2023
arxiv / code / website /

we propose Terrain Transformer (TERT), a simple yet effective method to leverage Transformer for quadrupedal locomotion over multiple terrains, including a two-stage training framework to incorporate Transformer with privileged learning.

Xialin He (何夏麟)

Lead Author Publications

Learning Getting-Up Policies for Real-World Humanoid Robots

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Visual Manipulation with Legs

Other Publications

SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation

Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies

sim-to-real transfer for quadrupedal locomotion via terrain transformer

Education

University of Illinois Urbana-Champaign

Illinois, USA

Shanghai Jiao Tong University

Shanghai, China