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simmediumhumanoidmetric · varies
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Description
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstractions, either by mediating control through robot-centric 2.5D terrain representations or by shaping depth learning with auxiliary geometry-related targets. Such designs inherit the representational bias of the intermediate or supervisory target and can be restrictive for vertical structures, perforated