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UniPoint: Unified Point-Level Sensor Fusion for Humanoid Locomotion Across Challenging Terrains

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Open-world deployment requires humanoid robots to cross highly heterogeneous terrain safely, with perception that simultaneously provides wide coverage, local accuracy, and redundancy against sensor failure. Existing approaches struggle to satisfy all three: one forward depth camera or nearby height sampling covers too little; odometry-corrected elevation maps drift under aggressive motion and miss thin vertical structures; image-level encoding costs grow with camera count. We present UniPoint, a humanoid whole-body locomotion framework built on multi-source point-level sensor fusion. Measurem

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