5 papers
KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
Peizhuo Li, Hongyi Li, Yuxuan Ma +8
Vision-based locomotion has shown great promise in enabling legged robots to perceive and adapt to complex environments. However, visual information is inherently fragile, being vu…
SSR: Scaling Surefooted and Symmetric Humanoid Traversal to the Open World
Ruiqi Yu, Yiwen Wang, Yuan Hao +2
Extending humanoid traversal to the open world is key to practical deployment in human environments, but remains challenging. The robot must use vision to ensure safe and reliable…
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Yuan Hao, Ruiqi Yu, Shixin Luo +3
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit g…
START: Traversing Sparse Footholds with Terrain Reconstruction
Ruiqi Yu, Qianshi Wang, Hongyi Li +4
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and ag…
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds
Ruiqi Yu, Qianshi Wang, Yizhen Wang +3
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroce…