@inproceedings{he2026viral,
  title = {VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation},
  author = {He, Tairan and Wang, Zi and Xue, Haoru and Ben, Qingwei and Luo, Zhengyi and Xiao, Wenli and Yuan, Ye and Da, Xingye and Casta{\~n}eda, Fernando and Sastry, Shankar and Liu, Changliu and Shi, Guanya and Fan, Linxi and Zhu, Yuke},
  year = {2026},
  month = {June},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  eprint = {2511.15200},
  archiveprefix = {arxiv},
}