Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity

What happened

arXiv:2610.14061v1 Announce Type: new Abstract: State-of-the-art perceptive humanoid locomotion is mostly built on retargeted motion capture, a generative motion prior, and a distillation stage. Le View a PDF of the paper titled Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity, by Thanh Ly and 6 other authors View PDF HTML (experimental) Abstract: State-of-the-art perceptive humanoid locomotion is mostly built on retargeted motion capture, a generative motion prior, and a distillation stage.

The continuous refinement moves $72.4\%$ of foot placements across at least one grid-cell boundary, which produces real sub-grid correction. Computer Science > Robotics arXiv:2610.14061 (cs) [Submitted on 7 Oct 2026] Title: Terrain Traversal Without Motion Priors: Expert-Routed Humanoid Locomotion at Deployment Fidelity Authors: Thanh Ly , Chien Le , Truong-Duy Dang , Duy M.

arXiv Robotics (cs.RO) reports that it reports a complete system that does not require this pipeline for a humanoid to cross varied terrain. arXiv is committed to these values and only works with partners that adhere to them.

Key facts

• arXiv Robotics (cs.RO) — reports: that it — reports: a complete system that does not require this pipeline for a humanoid to cross varied terrain