{"id":"https://openalex.org/W7134819524","doi":"https://doi.org/10.48550/arxiv.2603.07928","title":"Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping","display_name":"Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134819524","doi":"https://doi.org/10.48550/arxiv.2603.07928"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.07928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122542392","display_name":"Yuzhi Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yuzhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128657169","display_name":"Yujun Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Yujun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128646891","display_name":"Junhao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Junhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128656558","display_name":"Han Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5007312610","display_name":"Lijun Zhu","orcid":"https://orcid.org/0000-0001-8750-3847"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Lijun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22344949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9661999940872192,"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":0.9661999940872192,"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":0.007400000002235174,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.00570000009611249,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6599000096321106},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6424000263214111},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6284999847412109},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.4745999872684479},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.43140000104904175},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.424699991941452},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3815999925136566},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.34360000491142273}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7150999903678894},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6599000096321106},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6424000263214111},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6284999847412109},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5708000063896179},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.4745999872684479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45899999141693115},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.43140000104904175},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.424699991941452},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4117000102996826},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38580000400543213},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3815999925136566},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.34360000491142273},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.33169999718666077},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.07928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},{"id":"doi:10.48550/arxiv.2603.07928","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07928","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.07928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"},"sustainable_development_goals":[{"score":0.4589241147041321,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"robots,":[1],"characterized":[2],"by":[3,123,134],"numerous":[4],"degrees":[5],"of":[6,12],"freedom":[7],"and":[8,27,58,93,108,142,188],"a":[9,69,74,87,99,109,151,163,175],"high":[10,165],"center":[11],"gravity,":[13],"are":[14,120],"inherently":[15],"unstable.":[16],"Safe":[17],"omnidirectional":[18,24,45],"locomotion":[19],"on":[20,35,138,156,180],"stairs":[21],"requires":[22],"both":[23],"terrain":[25],"perception":[26],"reliable":[28,94,185],"foothold":[29],"selection.":[30],"Existing":[31],"methods":[32],"often":[33],"rely":[34],"forward-facing":[36],"depth":[37],"cameras,":[38],"which":[39,129],"create":[40],"blind":[41],"zones":[42],"that":[43,79,146],"restrict":[44],"mobility.":[46],"Furthermore,":[47,172],"sparse":[48,135],"post-contact":[49],"unsafe":[50,76],"stepping":[51,77,154,167],"penalties":[52],"lead":[53],"to":[54],"low":[55],"learning":[56],"efficiency":[57],"suboptimal":[59],"strategies.":[60],"To":[61,90],"realize":[62],"safe":[63,153,166],"stair-traversal":[64],"gaits,":[65],"this":[66],"paper":[67],"introduces":[68],"single-stage":[70],"training":[71],"framework":[72],"incorporating":[73],"dense":[75],"penalty":[78],"provides":[80],"continuous":[81,176],"feedback":[82],"as":[83],"the":[84,147],"foot":[85],"approaches":[86],"hazardous":[88],"placement.":[89],"obtain":[91],"stable":[92],"elevation":[95],"maps,":[96],"we":[97],"build":[98],"rolling":[100],"point-cloud":[101],"mapping":[102],"system":[103],"with":[104],"spatiotemporal":[105],"confidence":[106],"decay":[107],"self-protection":[110],"zone":[111],"mechanism,":[112],"producing":[113],"temporally":[114],"consistent":[115],"local":[116],"maps.":[117],"These":[118],"maps":[119],"further":[121],"refined":[122],"an":[124],"Edge-Guided":[125],"Asymmetric":[126],"U-Net":[127],"(EGAU),":[128],"mitigates":[130],"reconstruction":[131],"distortion":[132],"caused":[133],"LiDAR":[136],"returns":[137],"stair":[139,157],"risers.":[140],"Simulation":[141],"real-robot":[143],"experiments":[144],"show":[145],"proposed":[148],"method":[149],"achieves":[150],"near-100\\%":[152],"rate":[155,168],"terrains":[158],"in":[159,169],"simulation,":[160],"while":[161],"maintaining":[162],"remarkably":[164],"real-world":[170],"deployments.":[171],"it":[173],"completes":[174],"long-distance":[177],"walking":[178],"test":[179],"complex":[181],"outdoor":[182],"terrains,":[183],"demonstrating":[184],"sim-to-real":[186],"transfer":[187],"long-term":[189],"stability.":[190]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-11T00:00:00"}
