ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control

Xiao Chen^1,2  Weishuai Zeng^2*  Xiaojie Niu^2*  Zirui Wang^2*  Jianan Li^1*
Huayi Wang²  Furui Xu²  Jiahe Chen²  Weixiang Zhong²  Lihe Ding¹
Kailin Li²  Jiangmiao Pang²  Tai Wang²  Tianfan Xue^1,2†  Jingbo Wang^2†
1The Chinese University of Hong Kong  ²Shanghai AI Laboratory
^*Core Contributors (Random Order)  ^†Corresponding Authors

• Release the arXiv paper and project page in June.
• Release the training and sim2sim inference code in August. (🚧 Currently under refactoring)
• Release the deployment code in September. (🚧 Currently under refactoring)

If you find our work helpful, please cite it:

@article{chen2026reactivebfm,
  title={ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control},
  author={Chen, Xiao and Zeng, Weishuai and Niu, Xiaojie and Wang, Zirui and Li, Jianan and Wang, Huayi and Xu, Furui and Chen, Jiahe and Zhong, Weixiang and Ding, Lihe and Li, Kailin and Pang, Jiangmiao and Wang, Tai and Xue, Tianfan and Wang, Jingbo},
  journal={arXiv preprint arXiv:2606.30362},
  year={2026}
}

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