SOLO：全地形长时程感知人形机器人稳定运动
Original title: SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Source: arXiv cs.ROPublish time unverified
SOLO 框架针对感知型人形机器人长时程行走的误差累积问题，用傅里叶编码查询重建保留地形边界细节，并以轨迹感知蒸馏传递未来误差惩罚；压力地形测试通过率 97.5%，实机仅凭深度相机与本体感知零样完成 1.5 公里户外路线。
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arXiv:2608.26583v1 Announce Type: new Abstract: Humans traverse complex terrain over long distances without losing balance, whereas perceptive humanoid policies become fragile as perception and control errors accumulate. We present SOLO, a unified framework addressing two compounding causes of this long-horizon fragility: dense terrain reconstruction smooths action-critical details, and pointwise imitation lacks temporal credit assignment.