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simmediumlocomotionmetric · varies
Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality
Description
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world environments such as homes, offices, and public spaces, are densely cluttered, three-dimensional, and geometrically constrained, requiring scene-aware whole-body coordination, precise balance control, and reasoning over spatial constraints imposed by furniture and