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cs.RO2026
Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity
Thanh Ly, Chien Le, Truong-Duy Dang +4
State-of-the-art perceptive humanoid locomotion is mostly built on retargeted motion capture, a generative motion prior, and a distillation stage. We report a complete system that…
cs.RO2026
TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion
Thanh Ly, Truong-Duy Dang, Chien Le +5
Foothold selection on structured terrain requires explicit reasoning about contact planarity, surface steepness, and kinematic reachability, properties not captured by a single hei…
cs.RO2026
ContraMap: Contrastive Uncertainty Mapping for Robot Environment Representation
Chi Cuong Le, Weiming Zhi
Reliable robot perception requires not only predicting scene structure, but also identifying where predictions should be treated as unreliable due to sparse or missing observations…