{"id":"https://openalex.org/W7163645531","doi":"https://doi.org/10.48550/arxiv.2606.05873","title":"LadderMan: Learning Humanoid Perceptive Ladder Climbing","display_name":"LadderMan: Learning Humanoid Perceptive Ladder Climbing","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163645531","doi":"https://doi.org/10.48550/arxiv.2606.05873"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05873","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05873","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.05873","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138006477","display_name":"Siheng Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Siheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138011609","display_name":"Yuanhang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuanhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138001734","display_name":"Ziqi Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Ziqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137925815","display_name":"Pieter Abbeel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abbeel, Pieter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036908757","display_name":"Rocky Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Rocky","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138006096","display_name":"Koushil Sreenath","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sreenath, Koushil","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137976683","display_name":"Yue Wang (65477)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137991385","display_name":"C. Karen Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, C. Karen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guanya","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":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"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":0.6061000227928162,"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":0.6061000227928162,"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":0.14339999854564667,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.10999999940395355,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/climbing","display_name":"Climbing","score":0.8529000282287598},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7239999771118164},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6944000124931335},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6363000273704529},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.5849999785423279},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5041000247001648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4643999934196472},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4410000145435333}],"concepts":[{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8529000282287598},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7239999771118164},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6944000124931335},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6363000273704529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6043000221252441},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.579800009727478},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5041000247001648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4643999934196472},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4410000145435333},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.41530001163482666},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.38260000944137573},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3765999972820282},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37599998712539673},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3474000096321106},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C135450995","wikidata":"https://www.wikidata.org/wiki/Q820272","display_name":"Hill climbing","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28290000557899475},{"id":"https://openalex.org/C110332635","wikidata":"https://www.wikidata.org/wiki/Q629498","display_name":"Genetic programming","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2728999853134155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2727999985218048},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.25690001249313354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05873","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05873","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.05873","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05873","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"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":[1,45],"hold":[2],"great":[3],"promise":[4],"for":[5],"operating":[6],"in":[7,116,161],"human-centered":[8],"environments,":[9],"yet":[10],"ladder":[11,148,172],"climbing":[12,59,78,94,123,149],"remains":[13],"one":[14],"of":[15,154],"the":[16,113,121],"most":[17],"challenging":[18,171],"tasks":[19,169],"due":[20],"to":[21,31,46,75,111,158],"sparse":[22],"footholds":[23],"and":[24,29,33,51,85,99,165],"handholds,":[25],"complex":[26],"whole-body":[27],"coordination,":[28],"sensitivity":[30],"perception":[32],"control":[34],"errors.":[35],"We":[36],"present":[37],"\\textbf{LadderMan},":[38],"a":[39,64,81,90,128,133,151,162],"unified":[40,91],"system":[41],"that":[42,144],"enables":[43],"humanoid":[44],"robustly":[47],"climb":[48],"diverse":[49],"ladders":[50],"perform":[52],"manipulation":[53,130,139,168],"under":[54,170],"such":[55],"constrained":[56],"conditions.":[57],"Our":[58],"policy":[60,95,131],"is":[61],"built":[62],"on":[63,120],"scalable":[65],"two-stage":[66],"learning":[67],"pipeline,":[68],"where":[69],"we":[70,106,125],"use":[71],"hybrid":[72,97],"motion":[73],"tracking":[74],"learn":[76],"multiple":[77],"experts":[79,88],"from":[80],"single":[82],"reference":[83],"motion,":[84],"distill":[86],"these":[87],"into":[89],"depth-based":[92],"visuomotor":[93],"via":[96,140],"imitation":[98],"reinforcement":[100],"learning.":[101],"To":[102],"enable":[103],"real-world":[104,159],"deployment,":[105],"leverage":[107],"vision":[108],"foundation":[109],"models":[110],"bridge":[112],"sim-to-real":[114],"gap":[115],"depth":[117],"perception.":[118],"Building":[119],"learned":[122],"policy,":[124],"further":[126],"train":[127],"separate":[129],"using":[132],"dual-agent":[134],"formulation,":[135],"allowing":[136],"stable":[137],"on-ladder":[138],"teleoperation.":[141],"Experiments":[142],"demonstrate":[143],"LadderMan":[145],"achieves":[146],"robust":[147],"across":[150],"wide":[152],"range":[153],"geometries,":[155],"successfully":[156],"transfers":[157],"hardware":[160],"zero-shot":[163],"manner,":[164],"supports":[166],"various":[167],"constraints.":[173],"Video":[174],"results":[175],"are":[176],"available":[177],"at":[178],"https://ladderman-robot.github.io":[179],".":[180]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-06T00:00:00"}