Preprint
Sep 2026
PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments
Humanoid robots can step over, squeeze past, and duck under obstacles, but learning to select and coordinate these behaviors from onboard perception remains challenging. Many existing approaches rely on task-specific reinforcement-learning objectives or curated motion libraries, making broad behavioral coverage costly....
Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al.
· 1 citation