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simmediumhumanoidmetric · varies
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
Description
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally flattened views of the environment, failing to capture the full 3D structure. This paper presents Gallant, a voxel-grid-based framework for humanoid locomotion and local navigation in 3D constrained terrains. It leverages voxelized LiDAR data as a lightweight and stru