FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to retrieve relevant terrain information from earlier observations. We present FootQuery, a perceptive locomotion framework that queries depth history using each foot's predicted next touchdown. The policy predicts touchdown locations and uncertainty from proprioception and uses these distributions, together with per-foot features, to query sparsely sampled historical depth frames. During training, realized contacts are projected into historical images to supervise retrieval at the regions where those contacts wer...
| Authors | Tao Dong, Jia Yu, Yuxuan Fan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 September 2026 |
| Last updated at source | 30 September 2026 |
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