{"id":"https://openalex.org/W7128695283","doi":"https://doi.org/10.1109/lra.2026.3664167","title":"Gait-Adaptive Perceptive Humanoid Locomotion With Real-Time Under-Base Terrain Reconstruction","display_name":"Gait-Adaptive Perceptive Humanoid Locomotion With Real-Time Under-Base Terrain Reconstruction","publication_year":2026,"publication_date":"2026-02-12","ids":{"openalex":"https://openalex.org/W7128695283","doi":"https://doi.org/10.1109/lra.2026.3664167"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3664167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664167","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5123200456","display_name":"Haolin Song","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolin Song","raw_affiliation_strings":["Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-9735-5390","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125702010","display_name":"Hongbo Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongbo Zhu","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125703761","display_name":"Tao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Yu","raw_affiliation_strings":["LimX Dynamics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2550-5008","affiliations":[{"raw_affiliation_string":"LimX Dynamics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Liu","orcid":"https://orcid.org/0009-0008-9841-432X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Liu","raw_affiliation_strings":["School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0009-0008-9841-432X","affiliations":[{"raw_affiliation_string":"School of Mechanics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110921988","display_name":"Mingqi Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Mingqi Yuan","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9149-6202","affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101717914","display_name":"Wengang Zhou","orcid":"https://orcid.org/0000-0003-1690-9836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wengang Zhou","raw_affiliation_strings":["Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-1690-9836","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125722790","display_name":"Hua Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["LimX Dynamics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-4252-8693","affiliations":[{"raw_affiliation_string":"LimX Dynamics, Shenzhen, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004125857","display_name":"HouQiang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houqiang Li","raw_affiliation_strings":["Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2188-3028","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and Information Science (EEIS), University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3868,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93646277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"11","issue":"4","first_page":"4969","last_page":"4976"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9488000273704529,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9488000273704529,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.017100000753998756,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.009700000286102295,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7405999898910522},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7135999798774719},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.4991999864578247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4966000020503998},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4715000092983246},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4564000070095062},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45010000467300415},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4133000075817108}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7405999898910522},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7135999798774719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919000148773193},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6432999968528748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6032000184059143},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.4991999864578247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4966000020503998},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4715000092983246},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45010000467300415},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4133000075817108},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.37770000100135803},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.37459999322891235},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3743000030517578},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.336899995803833},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3664167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664167","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-172051","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-172051","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2784449021","https://openalex.org/W2911087563","https://openalex.org/W3034328552","https://openalex.org/W3176539729","https://openalex.org/W4285159888","https://openalex.org/W4313396671","https://openalex.org/W4391305509","https://openalex.org/W4394872716","https://openalex.org/W4401416668","https://openalex.org/W4402354114","https://openalex.org/W4402401628","https://openalex.org/W4402449733","https://openalex.org/W4403741606","https://openalex.org/W4412605573","https://openalex.org/W4413918531","https://openalex.org/W4414051129","https://openalex.org/W4414079195","https://openalex.org/W4416750728"],"related_works":[],"abstract_inverted_index":{"For":[0],"full-size":[1],"humanoid":[2,175],"robots,":[3],"reliable":[4],"locomotion":[5,54,179],"on":[6,170],"complex":[7],"terrains\u2014such":[8],"as":[9,107,194,196],"long":[10],"staircases\u2014remains":[11],"challenging,":[12],"even":[13,36],"with":[14,116],"recent":[15],"advances":[16],"in":[17,45,99,180],"reinforcement-learning-based":[18],"control.":[19],"In":[20],"such":[21],"settings,":[22,185],"limited":[23],"perception,":[24],"ambiguous":[25],"terrain":[26,58,150],"cues,":[27],"and":[28,62,86,129,137,148,165,183,188,192],"insufficient":[29],"adaptation":[30],"of":[31,48],"gait":[32,60,135],"timing":[33,136],"can":[34],"cause":[35],"a":[37,52,66,87,91,122,130,155,171,198],"single":[38,67],"misplaced":[39],"or":[40],"mistimed":[41],"step":[42],"to":[43,140,144],"result":[44],"rapid":[46],"loss":[47],"balance.":[49],"We":[50,152],"introduce":[51],"perceptive":[53],"framework":[55],"that":[56,125],"merges":[57],"sensing,":[59],"regulation,":[61],"whole-body":[63,138],"control":[64,109],"into":[65],"reinforcement":[68],"learning":[69,164],"policy.":[70],"A":[71],"downward-facing":[72],"depth":[73],"camera":[74],"mounted":[75],"under":[76],"the":[77,80,84,104,108,145],"base":[78],"observes":[79],"support":[81],"region":[82],"around":[83],"feet,":[85],"compact":[88],"U-Net":[89],"reconstructs":[90],"dense":[92],"egocentric":[93],"height":[94,113],"map":[95],"from":[96],"each":[97],"frame":[98],"real":[100],"time,":[101],"operating":[102],"at":[103],"same":[105],"frequency":[106],"loop.":[110],"The":[111],"perceptual":[112],"map,":[114],"together":[115],"proprioceptive":[117],"observations,":[118],"is":[119],"processed":[120],"by":[121],"unified":[123],"policy":[124,163],"produces":[126],"joint":[127],"commands":[128],"global":[131],"stepping-phase":[132],"signal,":[133],"allowing":[134],"posture":[139],"be":[141],"adapted":[142],"jointly":[143],"commanded":[146],"motion":[147],"local":[149],"geometry.":[151],"further":[153],"adopt":[154],"single-stage":[156],"successive":[157],"teacher\u2013student":[158],"training":[159],"scheme":[160],"for":[161],"efficient":[162],"knowledge":[166],"transfer.":[167],"Experiments":[168],"conducted":[169],"31-DoF,":[172],"1.65":[173],"m":[174],"robot":[176],"demonstrate":[177],"robust":[178],"both":[181],"simulation":[182],"real-world":[184],"including":[186],"forward":[187],"backward":[189],"stair":[190],"ascent":[191],"descent,":[193],"well":[195],"crossing":[197],"46":[199],"cm":[200],"gap.":[201],"Project":[202],"page:":[203],"<uri":[204],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[205],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://ga-phl.github.io/</uri>.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-13T00:00:00"}