CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains

Description

Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map, enhances terrain awareness, sensor noise and sim-to-real gaps can destabilize policies in practice. In this work, we provide theoretical analysis that bounds the return gap under observation noise, when the induced latent dynamics are contractive. Furthermore, we

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