2 papers
cs.RO2025
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception
Junli Ren, Tao Huang, Huayi Wang +6
The performance of legged locomotion is closely tied to the accuracy and comprehensiveness of state observations. Blind policies, which rely solely on proprioception, are considere…
cs.RO2024
Learning Humanoid Locomotion with Perceptive Internal Model
Junfeng Long, Junli Ren, Moji Shi +4
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degre…