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薛晗 | Han Xue I am a first-year Ph.D. student at the College of AI, Tsinghua University, advised by Prof. Li Yi. I received my B.E. in Computer Science from Tsinghua University. My current research focuses on humanoid learning and control.
Tracking motions, losing sleep.
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Research |
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Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Han Xue*, Sikai Liang*, Zhikai Zhang*, Zicheng Zeng, Yun Liu, Yunrui Lian, Jilong Wang, Qingtao Liui, Xuesong Shi, Li Yi arxiv, 2026 project page / arXiv / code (Click-and-Traverse) We propose Humanoid Potential Field (HumanoidPF) for collision-free traversal in cluttered indoor scenes with dexterous and versatile skills. |
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Track Any Motions under Any Disturbances
Zhikai Zhang*, Jun Guo*, Chao Chen, Jilong Wang, Chenghuai Lin, Yunrui Lian, Han Xue, Zhenrong Wang, Maoqi Liu, Jiangran Lyu, Huaping Liu, He Wang, Li Yi arXiv, 2025 project page / arXiv / code (OpenTrack) 
We present Any2Track, a foundational humanoid motion tracker to track any motions under any disturbances. |
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Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
Zhikai Zhang*, Chao Chen*, Han Xue*, Jilong Wang, Sikai Liang, Zongzhang Zhang, He Wang, Li Yi RA-L, 2025 LEAP Workshop @ CoRL, 2025 (Spotlight) project page / arXiv / code (OpenWBT) 
We present Real-world-Ready Skill Space (R2S2), a skill space that encompasses and encodes various real-world-ready motor skills. |
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GenN2N: Generative NeRF2NeRF Translation
Xiangyue Liu, Han Xue, Kunming Luo, Ping TAN, Li Yi CVPR, 2024 project page / arXiv / code GenN2N is a unified NeRF-to-NeRF translation framework for various NeRF translation tasks such as text-driven NeRF editing, colorization, super-resolution, inpainting, etc. |