نسخة أولية وصول مفتوح
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion
Humanoid parkour policies can traverse various terrains, but task completion may mask challenges of harsh landings, edge contacts, and unstable stance contacts. Humans naturally regulate foot-terrain interaction through tactile feedback, modulating contact compliance according to terrain stiffness. This highlights a ke …