SOURCE-LINKED INTELLIGENCE
SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We present SOLO, a unified framework addressing two compounding causes of this long-horizon fragility: dense terrain reconstruction smooths action-critical details, and pointwise imitation lacks temporal credit assignment. Its Query Reconstructor (QR) uses Fourier-encoded cell queries to retrieve spatially specific evidence from depth-proprioception tokens, preserving sharp terrain boundaries. Trajectory-Aware MSE (TA-MSE)
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-27T03:49:55.000Z
First collected: 2026-09-21T08:51:59.673Z. This is not the publication date.