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World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Foothold-constrained terrain is characterized by sparse, discontinuous, or geometrically restricted feasible foot contacts, as encountered on stepping stones, across gaps, and on narrow stair treads. On such terrain, a single misstep often leaves little room to recover, so policies that base foot-placement decisions primarily on the immediately visible terrain are prone to failure. We ask whether a learned predictive summary of near-future observations and rewards can provide the anticipatory information required in such settings. We present World-Model-Augmented Visual Locomotion (WM-LOCO), w

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