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Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in obstacle-free space, traversal through densely cluttered environments remains underexplored. These spaces are three-dimensional and geometrically constrained, requiring scene-aware locomotion that tightly couples whole-body motion with scene geometry for obstacle avoidance. To address these challenges, we present Moving Through Clutter (MTC), a learning-from-demonstration framework for scene-aware humanoid locomotion. To bypass costly physical scene construction, MTC uses procedural

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