New Paper: Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
ChongZzZhang · x · 2026-09-01
A new paper release studies learning and sim2real for 3D traversal on sparse structures like monkey bars and overhanging obstacles for humanoids. The work covers hardware design with a passive hook and head-mounted solid-state LiDAR, a teacher-student learning pipeline, and sim2real designs including LiDAR noise patterns, temperature modeling, and voltage modeling.
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