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README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+tags:
+- robotics
+- humanoid
+---
+
+# Click-and-Traverse: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
+
+<p style="font-size: 1.2em;">
+  <a href="https://axian12138.github.io/CAT/"><strong>Project Page</strong></a> | 
+  <a href="https://github.com/GalaxyGeneralRobotics/Click-and-Traverse/"><strong>Code</strong></a> |
+  <a href="https://arxiv.org/abs/2601.16035"><strong>Paper</strong></a> |
+  <a href="https://www.youtube.com/watch?v=blek__Qf0Vc"><strong>Video Demo</strong></a>
+</p>
+
+The system is designed for **general humanoid traversal tasks** requiring coordinated whole-body motion planning and collision avoidance.
+
+---
+
+## Key Capabilities
+
+<table width="100%">
+  <tr>
+    <th width="50%">Full-Spatial Constraints</th>
+    <th width="50%">Intricate Geometry Handling</th>
+  </tr>
+  <tr>
+    <td valign="top">
+      Indoor environments impose constraints at multiple spatial levels. Obstacles can appear simultaneously at the <strong>ground, lateral, and overhead</strong> levels, restricting humanoid motion in all spatial dimensions and requiring coordinated whole-body movement.
+    </td>
+    <td valign="top">
+      The method handles <strong>complex and irregular obstacle geometries</strong> that commonly appear in real-world environments, going beyond simplified primitives such as cubes or regular polyhedra used in many prior benchmarks.
+    </td>
+  </tr>
+</table>
+
+
+<div align="center">
+  <img 
+    src="https://img.youtube.com/vi/blek__Qf0Vc/maxresdefault.jpg"
+    style="width:100%; max-width:1000px; height:auto;"
+    alt="Collision-Free Humanoid Traversal Demo"
+  />
+</div>
+
+---
+
+## Citation
+
+```bibtex
+@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}
+}