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Xingyu Chen Currently, I am a PhD student focus on humanoid in HKUST(GZ). Since 2026, I have started my research journey with Prof. Renjing Xu. Previously, I am a Robotics Animation Engineer at Xiaomi in 2025. Prior to that, I obtained M.Sc degree from University College London in 2024. |
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ResearchParticularly, I am interested in physical intelligence via spatial computing. |
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HIPC: Humanoid Iterative Planning and Control via Goal-conditioned Motion Closure
Yi Han*, Xingyu Chen*, Zixuan Lang, Qianyang Wu, Yuhang Lin, Ji Ma, Liang Li, Dongting Li, Xinpeng Liu, Ruoli Dai, Hesheng Wang, Renjing Xu, Lei Han Arxiv preprint, 2026 [project page] [arXiv] [code] A humanoid planning and control framework for real-state motion closure. |
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HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Dongting Li*, Xingyu Chen*, Qianyang Wu, Bo Chen, Sikai Wu, Hanyu Wu, Guoyao Zhang, Liang Li, Mingliang Zhou, Diyun Xiang, Jianzhu Ma, Qiang Zhang, Renjing Xu Robotics: Science and Systems (RSS), 2026 [project page] [arXiv] [code] A world model identifies the interaction dynamics during state-action feedback. |
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VAIC: Vision-Guided Humanoid Agile Interaction Control via Decoupled Commands
Dongting Li*, Qianyang Wu*, Xingyu Chen, Liang Li, Yuhang Lin, Sikai Wu, Guoyao Zhang, Mingliang Zhou, Diyun Xiang, Qiang Zhang, Renjing Xu, Jianzhu Ma Arxiv preprint, 2026 [project page] [arXiv] [code] A visual-motor policy for humanoid-object interaction without reference motion. |
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GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers
Liang Li, Guoyao Zhang, Xingyu Chen, Sikai Wu, Wu Qianyang, Yuhang Lin, Renjing Xu, Mingliang Zhou, Diyun Xiang Arxiv preprint, 2026 [project page] [arXiv] [code] A visual adapter for guiding general motion trackers across various terrains. |
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PDF-HR: Pose Distance Fields for Humanoid Robots
Yi Gu*, Yukang Gao*, Yangchen Zhou*, Xingyu Chen, Yixiao Feng, Mingle Zhao, Yunyang Mo, Zhaorui Wang, Lixin Xu, Renjing Xu Neural Information Processing Systems (NeurIPS), 2027 [project page] [arXiv] [code] A continuous distance field for modeling humanoid robotics pose distribution. |
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PFM-HR: Pose Flow Matching for Humanoid Robots
Yukang Gao, Yi Gu, Yangchen Zhou, Xingyu Chen, Zhaorui Wang, Fanghai Zhang, Hanyang Cao, Zhengyang Shen, Ji Ma, Runhan Zhang, Lei Han, Renjing Xu arXiv preprint , 2026 [project page] [arXiv] [code] A pose transition prior for improving policy exploring efficiency. |
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A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu, Mingliang Zhou, Diyun Xiang, Haodong Zhang, Yangchen Zhou, Yukang Gao, Yi Gu, Renjing Xu RSS Workshop, 2026 [project page] [arXiv] [code] A real-time large-scale human-to-humanoid motion retargeting by style transfer. |
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Text-driven Human Motion Generation with Motion Masked Diffusion Model
Xingyu Chen Arxiv preprint, 2024 [arXiv] A spatial-temporal mask strategy for text-driven human motion diffusion model. |
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Gaussian Surfel Representation for Visual SLAM
Xingyu Chen Dissertation for master degree [thesis] A master thesis on the Visual SLAM with a planer Gaussian surfel representation. |
EngineeringI also enjoy some system design, implementation, product deployment and engineering applications. |
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Reinforcement Learning and Control for Humanoid Robotics
Work with Dr.Mingliang Zhou Xiaomi, 2025 I am responsible for series works in humanoid control and physical interaction. |
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Sensor Fusion and Dynamic Simulation for Autonomous Driving
Work with Dr.Panqu Wang ZERON, 2024 I am responsible for the 3DGS closed-loop simulation of the E2E autodrive model. |
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Robotic Sensing, Manipulation and Interaction
Lecture instructed by Dr.Francisco UCL COMP0129, 2023 [github] A point cloud recognition, positioning and grasping for Franka Panda Arm in Gazebo. |
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VR Game for Multi-player Online Helicopter Interaction
Project developed based on Ubiq UCL COMP0113, 2023 [github] A multiplayer real-time synchronous game for helicopter driving in Unity on Meta Quest2. |
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Mobile robotics clusters for industrial routing inspection
Internship guided by Dr.Jingya Liu MCC CISDI, 2021 I was involved and responsible for the SLAM and navigation system in collaboration robot. |
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Visual servo robotics for metallurgical manufacturing industry
Internship guided by Dr.Jingya Liu MCC CISDI, 2020 I was involved and responsible for the simulation and integrated control in industry robot. |
Miscellanea |
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Waterbot's Notebook
If you are interested in the humanoid whole-body control, I maintain a blog to help beginners quickly go through key points and getting started. [My mkdocs] |
This web template is from Jon Barron, the head icon is from 小熊貓, thank all! |
