arxivcs.RO2026-06-30
Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing
Jiale Fan, Connor Flynn, Tianao Xu, Junzhe He, Andrei Cramariuc, Marco Hutter, et al.
Learning-based control has revolutionized dynamic locomotion, yet navigating unstructured terrain remains limited by a robot's incomplete awareness of imminent ground contact. While global perception systems such as LiDARs and depth cameras provide environmental context, they are…