Original instructionI left my reading notes on the teatable. Please bring them to the double bed so I can read before sleep, and once I am done, leave them on the desk for tomorrow morning.
Teatable → double bed → desk
Single-goal
Double bed
Bunk bed
Desk
Toilet
Teatable
More results
Long-horizonSimulation
Original instructionI'm reading in bed tonight. Bring my book and cup over so I won't need to get up again.
Original instructionI'm reading in bed tonight. Bring my book and cup over so I won't need to get up again.
Reading in bed
Original instructionHelp me get lunch ready at the table, then wait by my chair.
User update: Cold salad, no heating needed.
A change of lunch plans
Original instructionBring a book from the bookshelf and the blanket to the sofa. I'd like to read somewhere comfortable tonight.
A comfortable reading corner
Original instructionCould you tidy the living room for our guests? Put the scarf away on the bed and return the book to the cabinet so the seating and table are clear.
Tidying for guests
Original instructionI'm hungry. Could you make dinner with the ingredients in the refrigerator, using the chopping board and gas stoves, and serve it on the table?
Preparing dinner
Original instructionI'm packing for an overnight stay. Bring the trappings and book to the desk so I can pack everything together there.
Packing for an overnight stay
Single-goalSimulation
Sofa
Go to the sofa.
Fireplace
Go to the fireplace.
Plant pot
Go to the plant pot.
Table
Go to the table.
Chair
Go to the chair.
Television
Go to the television.
Integrated cooktop
Go to the integrated cooktop.
Teatable
Go to the teatable.
Gas stoves
Go to the gas stoves.
Picture frame
Go to the picture frame.
Monitor
Go to the monitor.
Bed
Go to the bed.
Picture frame
Go to the picture frame.
Chair
Go to the chair.
Pet nest
Go to the pet nest.
Stool
Go to the stool.
Monitor
Go to the monitor.
Washing machine
Go to the washing machine.
Cake
Go to the cake.
Pillow
Go to the pillow.
Collision avoidanceReal
Compare three layouts for each object.
Small fan
Layout 1
Layout 2
Layout 3
Standing fan
Layout 1
Layout 2
Layout 3
Toy dog
Layout 1
Layout 2
Layout 3
Loco-manipulationReal
Navigate, then push
Real vs. simulation
Approach to the bed, shown from egocentric and external views.
Egocentric view
Real · First person
Simulation · First person
External view
Real · External
Simulation · External
BibTeX
@article{lhnav,
title = {LHNav: Long-Horizon Humanoid Navigation via Multirate Coordination and Physics-Grounded Action Data},
author = {Xueyang Wang and Zehong Shen and Dingkun Wei and Huaijin Pi and Changpeng Wang and Xing Zhu and Hujun Bao and Yujun Shen and Xiaowei Zhou},
year = {2026},
journal = {arXiv preprint arXiv:2611.12136}
}