Lijun Han

World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

Foothold-constrained terrain is characterized by sparse, discontinuous, or geometrically restricted feasible foot contacts, as encountered on stepping stones, across gaps, and on narrow stair treads. On such terrain, a single misstep often leaves little room to recover, so policies that base foot-placement decisions pr...