Papers
7
Total Citations
227
H-Index
4
About
Xuxin Cheng is an emerging robotics researcher whose work sits at the cutting edge of legged locomotion, agile robot control, and whole-body manipulation. His research tackles one of the field's most demanding challenges: enabling legged robots to move and interact with the physical world with the fluidity and adaptability of biological counterparts. His most celebrated contribution, "Extreme Parkour with Legged Robots" (2024), has already amassed 142 citations, demonstrating how end-to-end learning can replace brittle, hand-engineered pipelines to achieve dynamic, obstacle-traversing agility previously thought exclusive to humans and animals. Building on this foundation, Cheng has pioneered the concept of legs as active manipulators — not merely locomotion tools — pushing quadrupedal robots to perform dexterous tasks reminiscent of dogs interacting with their environment. His work on unified whole-body control policies, integrating locomotion and arm manipulation into cohesive learned frameworks, has opened new possibilities for mobile manipulation in unstructured environments. His most recent research on humanoid whole-body teleoperation further extends these principles to high-degree-of-freedom humanoid platforms. Across a compact but high-impact body of work, Cheng is rapidly establishing himself as a distinctive voice in robot learning and embodied intelligence.
Research Focus
Key Achievements
Top Papers
- 1Extreme Parkour with Legged Robots142 citations · 2024
- 2Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion45 citations · 2023
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- 5Extreme Parkour with Legged Robots3 citations · 2023
- 6Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion2 citations · 2023
- 7Visual Whole-Body Control for Legged Loco-Manipulation2 citations · 2024