2 papers
cs.RO2026
FastStair: Learning to Run Up Stairs with Humanoid Robots
Yan Liu, Tao Yu, Haolin Song +7
Running up stairs is effortless for humans but remains extremely challenging for humanoid robots due to the simultaneous requirements of high agility and strict stability. Model-fr…
cs.RO2025
Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction
Haolin Song, Hongbo Zhu, Tao Yu +5
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remain…