Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boundary on autonomous navigation. We demonstrate that a standard single-stage RL navigation pipeline struggles to scale to multi-level and multi-story terrain, limited by the difficulty of complex humanoid terra...
William D. Compton, Zachary Olkin, Ryan M. Bena et al.· 0 citations
General purpose humanoids require locomotion controllers that are multi-skill, perceptive, dynamic, and robust enough to go anywhere humans can. In this work, we present a two layer locomotion architecture: (1) a perceptive flow matching motion generator plans whole body trajectories from raw depth images while a (2) p...
Zachary Olkin, William D. Compton, Aaron D. Ames· 0 citations
This survey positions humanoid control at a turning point, converging toward a unified paradigm of physics-guided generative intelligence that integrates optimization, learning, and predictive reasoning.
Yan Gu, Guan-Ya Shi, Fan Shi et al.· Science Robotics· 8 citations
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