SOURCE-LINKED INTELLIGENCE
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to retrieve relevant terrain information from earlier observations. We present FootQuery, a perceptive locomotion framework that queries depth history using each foot's predicted next touchdown. The policy predicts touchdown locations and uncertainty from proprioception and uses these distributions, together with per-foot features, to query sparsely sampled historical depth frames. During training, realized contacts ar
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-18T07:59:24.000Z
First collected: 2026-09-23T14:01:59.594Z. This is not the publication date.