Reproduce “What the Elevation Map Cannot See: Semantic-Aware Locomotion and Execution-Aware Navigation for Humanoid Robot” on OpenResearch
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About this paper
Shunyu Yao, Songyang Liu, Dinghao Chen, Yuanyuan Lei, Shuai Li
The system combines visual semantic cues for humanoid foot placement with pose feedback that corrects waypoint tracking after safety detours. In simulation, it reduces contact with invisible hazards to 6.1%, compared with 21.1% for an elevation-only baseline; an anti-deviation ablation raises Safe SR from 11.98% to 23.68%. Hardware tests validate locomotion, while navigation is evaluated only in simulation.
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