Click-and-Traverse: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes

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The system is designed for general humanoid traversal tasks requiring coordinated whole-body motion planning and collision avoidance.

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Key Capabilities

Full-Spatial Constraints	Intricate Geometry Handling
Indoor environments impose constraints at multiple spatial levels. Obstacles can appear simultaneously at the ground, lateral, and overhead levels, restricting humanoid motion in all spatial dimensions and requiring coordinated whole-body movement.	The method handles complex and irregular obstacle geometries that commonly appear in real-world environments, going beyond simplified primitives such as cubes or regular polyhedra used in many prior benchmarks.

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Citation

@misc{xue2026collisionfreehumanoidtraversalcluttered,
  title        = {Collision-Free Humanoid Traversal in Cluttered Indoor Scenes},
  author       = {Xue, Han and Liang, Sikai and Zhang, Zhikai and Zeng, Zicheng and Liu, Yun and Lian, Yunrui and Wang, Jilong and Liu, Qingtao and Shi, Xuesong and Li, Yi},
  year         = {2026},
  eprint       = {2601.16035},
  archivePrefix= {arXiv},
  primaryClass = {cs.RO},
  url          = {https://arxiv.org/abs/2601.16035}
}