Cover Image

DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Sun, Jingkai, Han, Gang, Sun, Pihai, Zhao, Wen, Cao, Jiahang, Wang, Jiaxu, Guo, Yijie, Zhang, Qiang
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
by: Zhang, Qiang, et al.
Published: (2025)

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
by: Zhang, Qiang, et al.
Published: (2025)

Trinity: A Modular Humanoid Robot AI System
by: Sun, Jingkai, et al.
Published: (2025)

LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
by: Zhang, Qiang, et al.
Published: (2025)

Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control
by: Tao, Zelin, et al.
Published: (2026)

Whole-body Humanoid Robot Locomotion with Human Reference
by: Zhang, Qiang, et al.
Published: (2024)

Learning Perceptive Humanoid Locomotion over Challenging Terrain
by: Sun, Wandong, et al.
Published: (2025)

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots
by: Cui, Wei, et al.
Published: (2025)

Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
by: Fu, Shengcheng, et al.
Published: (2026)

MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
by: Zhang, Qiang, et al.
Published: (2026)

E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework
by: Duan, Yiqun, et al.
Published: (2024)

Gait-Adaptive Perceptive Humanoid Locomotion with Real-Time Under-Base Terrain Reconstruction
by: Song, Haolin, et al.
Published: (2025)

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
by: Zhang, Yuanhang, et al.
Published: (2026)

ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
by: Zhang, Qiang, et al.
Published: (2025)

CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
by: Hao, Yuan, et al.
Published: (2026)

Learning Humanoid Locomotion with World Model Reconstruction
by: Sun, Wandong, et al.
Published: (2025)

Learning Humanoid Locomotion over Challenging Terrain
by: Radosavovic, Ilija, et al.
Published: (2024)

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
by: Yu, Shangqun, et al.
Published: (2024)

Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models
by: Cao, Jiahang, et al.
Published: (2024)

CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
by: Zeng, Qixin, et al.
Published: (2026)

Learning Humanoid Locomotion with Perceptive Internal Model
by: Long, Junfeng, et al.
Published: (2024)

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
by: Gu, Xinyang, et al.
Published: (2024)

MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy
by: Wang, Jiaxu, et al.
Published: (2026)

Occupancy World Model for Robots
by: Zhang, Zhang, et al.
Published: (2025)

PRIOR: Perceptive Learning for Humanoid Locomotion with Reference Gait Priors
by: Han, Chenxi, et al.
Published: (2026)

Fully Spiking Neural Network for Legged Robots
by: Jiang, Xiaoyang, et al.
Published: (2023)

RobotPan: A 360$^\circ$ Surround-View Robotic Vision System for Embodied Perception
by: Ma, Jiahao, et al.
Published: (2026)

Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
by: Zhou, Ziyi, et al.
Published: (2025)

Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning
by: Xie, Weiji, et al.
Published: (2025)

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains
by: Wu, Feiyang, et al.
Published: (2024)

Learning Structural Latent Points for Efficient Visual Representations in Robotic Manipulation
by: Jiang, Yicheng, et al.
Published: (2026)

Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
by: Ben, Qingwei, et al.
Published: (2025)

A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion
by: Bank, Dennis, et al.
Published: (2026)

Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning
by: Sun, Jingkai, et al.
Published: (2023)

Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
by: Cao, Jiahang, et al.
Published: (2025)

World Model-based Perception for Visual Legged Locomotion
by: Lai, Hang, et al.
Published: (2024)

Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
by: Xiang, Zhaoyang, et al.
Published: (2026)

LHM-Humanoid: Learning a Unified Policy for Long-Horizon Humanoid Whole-Body Loco-Manipulation in Diverse Messy Environments
by: Zhang, Haozhuo, et al.
Published: (2025)

Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
by: Xue, Yufei, et al.
Published: (2026)

Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
by: Zhang, Jianguo, et al.
Published: (2026)