Xiao Chen (陈 骁)
Ph.D. Student@MMLab, CUHK
Biography
Hi there👋! I'm a fourth-year Ph.D. student at MMLab, The Chinese University of Hong Kong, advised by Prof. Tianfan Xue. I received my B.Eng. Degree and Honors Degree (Chu Kochen Honors College) from Zhejiang University.
I worked as a research intern on VLA pretraining and online RL post-training for loco-manipulation at Galbot and
NVIDIA, in collaboration with Prof. Li Yi and Dr. Yan Chang. At
Shanghai AI Laboratory, I researched RL policies for whole-body control and robot-scene interaction, working with Dr. Jingbo Wang, Dr. Tai Wang, and Dr. Jiangmiao Pang. I also collaborate closely with Prof. Zhihang Zhong.
My research interests center on Generalizable Robot Learning, with a particular focus on:
- Robotic foundation models pretraining
- Agentic robot policies
- Scalable robot data flywheels
News
- [2026-09] 🎉 One paper (ReactiveBFM) accepted at CoRL 2026!
- [2026-07] 🎉 One paper (CHIP) accepted at SIGGRAPH Asia 2026!
- [2026-03] Invited talk at China Society of Image and Graphics (CCIG, 中国图像图形学学会)!
- [2026-02] 🎉 Two paper (Mimic2DM) and (DynamicTree) accepted at CVPR 2026!
- [2026-01] 🎉 One paper (AdaMimic) accepted at ICRA 2026!
- [2026-01] 🎉 One paper (FullPart) accepted at ICLR 2026!
- [2025-09] Invited talk at CV Life (计算机视觉life)!
- [2025-09] Invited talk at 3DCVer (3D视觉工坊)!
- [2025-06] 🎉 Two papers (GLEAM and CoPart) accepted at ICCV 2025!
- [2025-06] 🎉 HoST is selected as a Best Systems Paper Finalist at RSS 2025!
- [2025-04] 🎉 One paper (HoST) accepted at RSS 2025!
- [2024-07] Invited talk at AI Spot, hosted by OpenMMLab!
- [2024-02] 🎉 Two papers (GenNBV and EmbodiedScan) accepted at CVPR 2024!
Publications
▼ General-Purpose Humanoid Intelligence
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
CoRL 2026
Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, Furui Xu, Jiahe Chen, Weixiang Zhong, Lihe Ding, Kailin Li, Jiangmiao Pang, Tai Wang, Tianfan Xue†, Jingbo Wang†
Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, Furui Xu, Jiahe Chen, Weixiang Zhong, Lihe Ding, Kailin Li, Jiangmiao Pang, Tai Wang, Tianfan Xue†, Jingbo Wang†
CHIP: Unifying Physics-Based Humanoid Interaction with Context-conditioned Interaction Prior
Isaac Gr00t: Towards Precise Humanoid Manipulation via RL Post-Training
Core Contributor, during my internship at NVIDIA
GoAnywhere: Towards a Whole-Body Teleoperation System Beyond Spatial Constraints
Preprint 2026
Xiaojie Niu*, Weixiang Zhong*, Xiao Chen*, Weishuai Zeng*, Jiahe Chen, Feiyu Jia, Huayi Wang, Kailin Li, Jingbo Wang†, Jiangmiao Pang†
Xiaojie Niu*, Weixiang Zhong*, Xiao Chen*, Weishuai Zeng*, Jiahe Chen, Feiyu Jia, Huayi Wang, Kailin Li, Jingbo Wang†, Jiangmiao Pang†
Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
arXiv 2026
Jiahe Chen, Zirui Wang, Feiyu Jia, Xiao Chen, Xiaojie Niu,
Weishuai Zeng, Tianfan Xue, Xiaowei Zhou, Jiangmiao Pang, Jingbo Wang
Jiahe Chen, Zirui Wang, Feiyu Jia, Xiao Chen, Xiaojie Niu,
Weishuai Zeng, Tianfan Xue, Xiaowei Zhou, Jiangmiao Pang, Jingbo Wang
Mimic2DM: Learning to Control Physically-simulated 3D Characters via Generating and Mimicking 2D Motions
ScaleBFM: Scaling Behavior Foundation Model for Humanoid Robots
Technical Report, 2026
Weishuai Zeng*, Kangning Yin*, Xiaojie Niu*, Shunlin Lu, Weixiang Zhong, Jiahe Chen, Feiyu Jia,
Xiao Chen, Zirui Wang, Furui Xu, Ming Zhou, Kailin Li, Weinan Zhang, He Wang, Li Yi, Dahua Lin,
Jiangmiao Pang, Jingbo Wang†
Weishuai Zeng*, Kangning Yin*, Xiaojie Niu*, Shunlin Lu, Weixiang Zhong, Jiahe Chen, Feiyu Jia,
Xiao Chen, Zirui Wang, Furui Xu, Ming Zhou, Kailin Li, Weinan Zhang, He Wang, Li Yi, Dahua Lin,
Jiangmiao Pang, Jingbo Wang†
AdaMimic: Towards Adaptable Humanoid Control via Adaptive Motion Tracking
ICRA 2026 (Oral)
Tao Huang, Huayi Wang, Junli Ren, Kangning Yin, Zirui Wang, Xiao Chen, Feiyu Jia, Wentao Zhang, Junfeng Long, Jingbo Wang†, Jiangmiao Pang†
Tao Huang, Huayi Wang, Junli Ren, Kangning Yin, Zirui Wang, Xiao Chen, Feiyu Jia, Wentao Zhang, Junfeng Long, Jingbo Wang†, Jiangmiao Pang†
HoST: Learning Humanoid Standing-up Control across Diverse Postures
RSS 2025 (Best Systems Paper Finalist)
Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen,
Jianan Li, Jiangmiao Pang†
Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen,
Jianan Li, Jiangmiao Pang†
PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
arXiv 2025
Huayi Wang*, Wentao Zhang*, Runyi Yu*, Tao Huang, Junli Ren, Feiyu Jia, Zirui Wang, Xiaojie Niu,
Xiao Chen, Jiahe Chen, Qifeng Chen†, Jingbo Wang†, Jiangmiao Pang†
Huayi Wang*, Wentao Zhang*, Runyi Yu*, Tao Huang, Junli Ren, Feiyu Jia, Zirui Wang, Xiaojie Niu,
Xiao Chen, Jiahe Chen, Qifeng Chen†, Jingbo Wang†, Jiangmiao Pang†
▼ Active Vision, Real2Sim Simulation, and 3D/4D Generation
GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D Indoor Scenes
GenNBV: Generalizable Next-Best-View Policy for Active 3D Reconstruction
FullPart: Generating Each 3D Part at Full Resolution
ICLR 2026
Lihe Ding*, Shaocong Dong*, Yaokun Li, Chenjian Gao, Xiao Chen, Rui Han, Yihao Kuang, Hong Zhang, Bo Huang, Zhanpeng Huang, Zibin Wang, Dan Xu†, Tianfan Xue†
Lihe Ding*, Shaocong Dong*, Yaokun Li, Chenjian Gao, Xiao Chen, Rui Han, Yihao Kuang, Hong Zhang, Bo Huang, Zhanpeng Huang, Zibin Wang, Dan Xu†, Tianfan Xue†
CoPart: Contextual Part Latents for 3D Generation
ICCV 2025
Shaocong Dong*, Lihe Ding*, Xiao Chen, Yaokun Li, Yuxin Wang, Yucheng Wang, Qi Wang,
Jaehyeok Kim, Chenjian Gao, Zhanpeng Huang, Zibin Wang, Tianfan Xue†, Dan Xu†
Shaocong Dong*, Lihe Ding*, Xiao Chen, Yaokun Li, Yuxin Wang, Yucheng Wang, Qi Wang,
Jaehyeok Kim, Chenjian Gao, Zhanpeng Huang, Zibin Wang, Tianfan Xue†, Dan Xu†
DynamicTree: Interactive Real Tree Animation via Sparse Voxel Spectrum
EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI
CVPR 2024
Tai Wang*, Xiaohan Mao*, Chenming Zhu*, Runsen Xu, Ruiyuan Lyu, Peisen Li, Xiao Chen,
Wenwei Zhang, Kai Chen, Tianfan Xue, Xihui Liu, Cewu Lu, Dahua Lin, Jiangmiao Pang†
Tai Wang*, Xiaohan Mao*, Chenming Zhu*, Runsen Xu, Ruiyuan Lyu, Peisen Li, Xiao Chen,
Wenwei Zhang, Kai Chen, Tianfan Xue, Xihui Liu, Cewu Lu, Dahua Lin, Jiangmiao Pang†
Open-Source Projects
Awesome Astra Embodied AI
(2026) GPT-6 Astra for embodied AI and robotics, covering zero-shot control, agentic policy calls, real-to-sim replay, and Astra-built RL training.
Awesome Spatial Exploration Policies
(2025) A curated list of papers about spatial exploration. The exploration task, also known as next-best-view planning, aims to determine the next best viewpoints to model and understand target scenes.
Batch Export Generated 3D Scenes for Robot Learning
A LiDAR SLAM System for Mobile Robots
(2020) Python, ROS (gazebo, rviz). A lightweight, self-developed LiDAR SLAM system for mobile robots, featuring LiDAR odometry (ICP), state estimation (EKF), and path planning (DWA and A*).
Services
Academic Reviewer
Conference
- Computer Vision and Pattern Recognition (CVPR)
- International Conference on Computer Vision (ICCV)
- European Conference on Computer Vision (ECCV)
- Conference on Neural Information Processing Systems (NeurIPS)
- International Conference on Learning Representations (ICLR)
- International Conference on Intelligent Robots and Systems (IROS)
- The Conference on Robot Learning (CoRL)
- ACM SIGGRAPH
- ACM Multimedia (ACM-MM)
- The Association for the Advancement of Artificial Intelligence (AAAI)
- The British Machine Vision Conference (BMVC)
- International Conference on Robot and Human Interactive Communication (ROMAN)
- IEEE Robotics and Automation Letters (RA-L)
- IEEE Transactions on Robot Learning (T-RL)
- IEEE Transactions on Automation Science and Engineering (T-ASE)
- IEEE Transactions on Visualization and Computer Graphics (TVCG)
- IEEE Transactions on Cognitive and Developmental Systems (TCDS)
- Neurocomputing
Teaching Assistant
- 2024-2025 Term2, Introduction to Systems Programming, IERG2080, CUHK
- 2024-2025 Term1, Problem Solving by Programming, ENGG1110B, CUHK
- 2023-2024 Term2, Introduction to Systems Programming, IERG2080, CUHK
- 2023-2024 Term1, Multimedia Coding and Processing, IERG4190/IEMS5707, CUHK