LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors
LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors
This research presents a real-time navigation framework for humanoid robots in dynamic, non-convex environments. The method constructs spatio-temporal safe corridors from LiDAR-based particle representations and integrates them with Linear Inverted Pendulum planning and Whole Body Control. Simulations on the Digit humanoid achieve a 96% success rate in navigating around and inside moving non-convex obstacles, with robustness to clutter, sensor noise, and control delays.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Environment
- SimulationOpen source S3
Reported numbers
Reported success rate
96%
View original evidence
for humanoid navigation that directly constructs spatio-temporal safe corridors from LiDAR-based particle representations and couples them with Linear Inverted Pendulum (LIP)-based planning and Whole Body Control (WBC) to enable navigation around and within moving non-convex structures without restrictive geometric assumptions. Simulations on the Digit humanoid yield a 96% success rate in navigating around and inside
Open source S3
- paper: not_reported
- code: not_reported
- weights: not_reported
- dataset: not_reported
What remains unknown
Not established in the collected evidence: Control, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
for humanoid navigation that directly constructs spatio-temporal safe corridors from LiDAR-based particle representations and couples them with Linear Inverted Pendulum (LIP)-based planning and Whole Body Control (WBC) to enable navigation around and within moving non-convex structures without restrictive geometric assumptions. Simulations on the Digit humanoid yield a 96% success rate in navigating around and inside
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org