Author

Yi-Ming Li

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Preprint Sep 2026

TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion

Humanoid parkour policies can traverse various terrains, but task completion may mask challenges of harsh landings, edge contacts, and unstable stance contacts. Humans naturally regulate foot-terrain interaction through tactile feedback, modulating contact compliance according to terrain stiffness. This highlights a ke...

Zi-Zhuo Wang, Ming-Ju Lee, Shao-Ting Zhu et al. · 0 citations

Jul 2026

WildCity: A Real-World City-Scale Testbed for Rendering, Simulation, and Spatial Intelligence

WildCity, a real-world multimodal dataset collected by autonomous fleets traversing complex urban environments, aims to catalyze progress not only in city-scale rendering, but more broadly in the pursuit of AI that can perceive, remember, and reason across space at a scale comparable to human cognition.

Xiangyu Han, Mengyu Yang, Jiaqi Li et al. · arXiv.org · 0 citations