SOLO：人形机器人仅凭胸戴深度相机完成 1.5 公里野外行走
Original title: SOLO: Stable Omni-terrain Long-Horizon Perceptive Humanoid Locomotion
Source: arXiv cs.ROPublish time unverified
SOLO 框架针对人形长距离感知行走的误差累积问题，用 Query Reconstructor 保留地形边界细节、TA-MSE 蒸馏改善时间信用分配；压力测试地形通过率 97.5%，仅靠胸前深度相机与本体感知零样本完成 1.5 公里户外连续路线。
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arXiv:2608.26583v2 Announce Type: replace 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.