Selected Projects

🚀 Projects Link to heading

Whole-Body VLA for Humanoid Locomanipulation
TARS Robotics (它石智航) · Whole-Body VLA Team

Leading the end-to-end development of whole-body Vision-Language-Action models for humanoid robots, enabling unified locomanipulation capabilities that integrate perception, reasoning, and motor control.

[latest updates on Xiaohongshu]

Ongoing · 2026

📄 Papers Link to heading

Accepted Link to heading

Natural Humanoid Robot Locomotion with Generative Motion Prior
Haodong Zhang*, Liang Zhang*, Zhenghan Chen, Lu Chen, Yue Wang, Rong Xiong.

[paper] [project page] [code]

IROS 2025

A Whole-Body Motion Imitation Framework from Human Data for Full-Size Humanoid Robot
Zhenghan Chen*, Haodong Zhang*, Dongqi Wang, Jiyu Yu, Haocheng Xu, Yue Wang, Rong Xiong.

[paper] [project page] [code]

RCAR 2025

Foothold-Based Planning for Legged Robot Autonomous Navigation over Uneven Terrain
Jiyu Yu, Dongqi Wang, Zhenghan Chen, Ci Chen, Rong Xiong, Yue Wang

[paper] [project page] [code]

TMECH 2025

A Hierarchical MPC for Locomotion Tracking Control of Humanoid Robots
Dongqi Wang, Zhenghan Chen, Jiyu Yu, Liang Zhang, Yue Wang, Haojian Lu, Shaoxing Qu, Rong Xiong.

[paper] [project page] [code]

RAI 2025

A Fast Motion and Foothold Planning Framework for Legged Robots on Discrete Terrain
Jiyu Yu, Dongqi Wang, Zhenghan Chen, Ci Chen, Shuangpeng Wu, Yue Wang

[paper] [project page] [code]

IROS 2024

Under Review Link to heading

TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen*, Haocheng Xu*, Haodong Zhang, Liang Zhang, He Li, Dongqi Wang, Jiyu Yu, Yifei Yang, Zhongxiang Zhou, Rong Xiong.

[paper] [project page] [code]

Revise and Resubmit, RAL 2025

EMP: Executable Motion Prior for Humanoid Robot Standing Upper-body Motion Imitation
Haocheng Xu*, Haodong Zhang*, Zhenghan Chen, Rong Xiong

[paper] [project page] [code]

Under Review, RAL 2025