Raw proximity measurements can substitute for explicit object localization in humanoid collision avoidance if sensing range is sufficient, and sparse non-directional proximity signals train more efficiently than dense directional alternatives.
Real-time control of a humanoid robot for whole-body tactile interaction
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Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Raw proximity measurements can substitute for explicit object localization in humanoid collision avoidance if sensing range is sufficient, and sparse non-directional proximity signals train more efficiently than dense directional alternatives.