Author

Li Yi

h-index 6 View on Semantic Scholar

We have 2 of 9 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

Humanoid robots can step over, squeeze past, and duck under obstacles, but learning to select and coordinate these behaviors from onboard perception remains challenging. Many existing approaches rely on task-specific reinforcement-learning objectives or curated motion libraries, making broad behavioral coverage costly....

Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al. · 1 citation

Jul 2026

Scaling Behavior Foundation Model for Humanoid Robots

This work revisits the scaling recipe for BFMs and demonstrates that substantial performance gains can be achieved through the coordination of three core components: the learning paradigm of motion tracking that reformulates diverse humanoid control problems as the reproduction of integrated whole-body behaviors in the...

Weishuai Zeng, Kangning Yin, Xiaojie Niu et al. · arXiv.org · 3 citations · ⚡1