Terrain-consistent reference modulation during RL training yields SE(2)-controllable humanoid locomotion policies that improve tracking in simulation and enable over 70 m closed-loop autonomous navigation on rough terrain and stairs on the Unitree G1 with onboard computation.
Long-horizon humanoid navigation planning using traversability estimates and previous experience,
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Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
Terrain-consistent reference modulation during RL training yields SE(2)-controllable humanoid locomotion policies that improve tracking in simulation and enable over 70 m closed-loop autonomous navigation on rough terrain and stairs on the Unitree G1 with onboard computation.