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.
Collision-free humanoid traversal in cluttered indoor scenes
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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.