metadata
license: apache-2.0
tags:
- robotics
- humanoid
Click-and-Traverse: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Project Page | Code | Paper | Video Demo| Models| Datasets
The system is designed for general humanoid traversal tasks requiring coordinated whole-body motion planning and collision avoidance.
Key Capabilities
| 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. |
Citation
@misc{xue2026collisionfreehumanoidtraversalcluttered,
title = {Collision-Free Humanoid Traversal in Cluttered Indoor Scenes},
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},
year = {2026},
eprint = {2601.16035},
archivePrefix= {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2601.16035}
}
---
## Versioned Assets
- `assets_v0/`: original asset release.
- `assets_v1/`: Generalist v1 asset release.
- `assets_v1/TypiObs/`: typical-obstacle scenes used by Generalist v1.