Salvato in:
| Autori principali: | , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2505.06218 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909606102433792 |
|---|---|
| author | Lin, Kwan-Yee Yu, Stella X. |
| author_facet | Lin, Kwan-Yee Yu, Stella X. |
| contents | Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals or situational awareness, while semantic navigation overlooks real-world embodiment and local terrain variability. We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution. We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously. We introduce two technical innovations: 1) A temporal vision transformer variant - tailored into Hierarchical Reinforcement Learning framework - anticipates future local goals to guide movement, seamlessly integrating locomotion with goal-directed navigation. 2) Latent representations of joint movement patterns, combined with hierarchical metric learning - enhance Privileged Learning scheme - enable smooth policy transfer from privileged training to onboard execution. These components allow LEGO-H to handle diverse physical and environmental challenges without relying on predefined motion patterns. Experiments across varied simulated trails and robot morphologies highlight LEGO-H's versatility and robustness, positioning hiking as a compelling testbed for embodied autonomy and LEGO-H as a baseline for future humanoid development. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_06218 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Let Humanoids Hike! Integrative Skill Development on Complex Trails Lin, Kwan-Yee Yu, Stella X. Robotics Artificial Intelligence Computer Vision and Pattern Recognition Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals or situational awareness, while semantic navigation overlooks real-world embodiment and local terrain variability. We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution. We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously. We introduce two technical innovations: 1) A temporal vision transformer variant - tailored into Hierarchical Reinforcement Learning framework - anticipates future local goals to guide movement, seamlessly integrating locomotion with goal-directed navigation. 2) Latent representations of joint movement patterns, combined with hierarchical metric learning - enhance Privileged Learning scheme - enable smooth policy transfer from privileged training to onboard execution. These components allow LEGO-H to handle diverse physical and environmental challenges without relying on predefined motion patterns. Experiments across varied simulated trails and robot morphologies highlight LEGO-H's versatility and robustness, positioning hiking as a compelling testbed for embodied autonomy and LEGO-H as a baseline for future humanoid development. |
| title | Let Humanoids Hike! Integrative Skill Development on Complex Trails |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2505.06218 |