Let Humanoids Hike! Integrative Skill Development on Complex Trails

• URL: http://arxiv.org/abs/2505.06218v1
• Date: Fri, 09 May 2025 17:53:02 GMT
• Title: Let Humanoids Hike! Integrative Skill Development on Complex Trails
• Authors: Kwan-Yee Lin, Stella X. Yu,
• Abstract summary: We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution.<n>We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously.
• Score: 39.30624277966043
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals or situational awareness, while semantic navigation overlooks real-world embodiment and local terrain variability. We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution. We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously. We introduce two technical innovations: 1) A temporal vision transformer variant - tailored into Hierarchical Reinforcement Learning framework - anticipates future local goals to guide movement, seamlessly integrating locomotion with goal-directed navigation. 2) Latent representations of joint movement patterns, combined with hierarchical metric learning - enhance Privileged Learning scheme - enable smooth policy transfer from privileged training to onboard execution. These components allow LEGO-H to handle diverse physical and environmental challenges without relying on predefined motion patterns. Experiments across varied simulated trails and robot morphologies highlight LEGO-H's versatility and robustness, positioning hiking as a compelling testbed for embodied autonomy and LEGO-H as a baseline for future humanoid development.

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