FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
cs.RO, cs.LG, cs.SY, eess.SY
Submitted: 2026-09-18
Updated: 2026-09-30
Comments: 9 pages, 11 figures
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
- GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion
- Look Forward to Walk Backward: Efficient Terrain Memory for Backward Locomotion with Forward Vision
- Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
- Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
- KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
- SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
- Learning Motion Skills with Adaptive Assistive Curriculum Force in Humanoid Robots
- Proximal Policy Optimization Algorithms
- MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
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