{"id":"https://openalex.org/W7163677738","doi":"https://doi.org/10.48550/arxiv.2606.05880","title":"TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion","display_name":"TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163677738","doi":"https://doi.org/10.48550/arxiv.2606.05880"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05880","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05880","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":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.2606.05880","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138007307","display_name":"Peizhuo Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Peizhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137974805","display_name":"Hongyi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hongyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138006147","display_name":"Mingfeng Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Mingfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004432231","display_name":"Fangzhou Xu","orcid":"https://orcid.org/0000-0001-7660-1206"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Fangzhou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111092060","display_name":"Shuhao Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liao, Shuhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137941399","display_name":"Yuxuan Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123707491","display_name":"Zicheng Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Zicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138006135","display_name":"Ze Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022020301","display_name":"Yongbin Jin","orcid":"https://orcid.org/0000-0001-8964-8951"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Yongbin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137994506","display_name":"Yuhong Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Yuhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137990040","display_name":"Hongtao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hongtao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137975644","display_name":"Guillaume Sartoretti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sartoretti, Guillaume","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":0.27239999175071716,"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":0.27239999175071716,"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":0.19850000739097595,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.09790000319480896,"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":0.7533000111579895},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.7160999774932861},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6144999861717224},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5123000144958496},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5074999928474426},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.46160000562667847},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44029998779296875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3944999873638153}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7533000111579895},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.7160999774932861},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6144999861717224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6054999828338623},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.541100025177002},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5074999928474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.504800021648407},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.46160000562667847},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44029998779296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3944999873638153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36489999294281006},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.3179999887943268},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.31060001254081726},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2831000089645386},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05880","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05880","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":"doi:10.48550/arxiv.2606.05880","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05880","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Agile":[0],"humanoid":[1,40,160],"locomotion":[2,94,132,161],"across":[3],"diverse":[4],"challenging":[5],"terrain":[6,26],"demands":[7],"both":[8],"wide":[9],"perceptual":[10,168],"coverage":[11],"and":[12,46,58,130,135,148,170],"precise":[13],"local":[14],"geometry":[15],"understanding.":[16],"Motivated":[17],"by":[18],"the":[19,52,65,74,80,125,149],"way":[20],"humans":[21],"selectively":[22,68],"look":[23],"at":[24],"relevant":[25],"during":[27],"locomotion,":[28],"we":[29],"introduce":[30],"TAGA,":[31],"a":[32,123],"Terrain-aware":[33],"Active":[34],"Gaze":[35],"learning":[36,109],"framework":[37,50],"for":[38,73],"Attention-based":[39],"control.":[41],"By":[42],"fusing":[43],"vision,":[44],"proprioception,":[45],"motion":[47],"commands,":[48],"our":[49],"guides":[51],"model":[53],"to":[54,61],"learn":[55],"anticipatory":[56],"cues":[57],"actively":[59],"attend":[60],"specific":[62],"areas":[63],"of":[64,83,156],"height":[66],"scan,":[67],"using":[69],"these":[70],"informative":[71],"regions":[72],"downstream":[75],"network.":[76],"This":[77],"adaptively":[78],"increases":[79],"information":[81],"density":[82],"observations":[84],"under":[85,166],"tight":[86],"onboard":[87],"computational":[88],"constraints,":[89],"thus":[90],"enabling":[91],"fine-grained":[92],"perceptive":[93,159],"over":[95],"larger-scale":[96],"terrains.":[97],"We":[98],"find":[99],"that":[100],"such":[101],"gaze":[102],"behaviors":[103],"can":[104],"naturally":[105],"emerge":[106],"through":[107],"reinforcement":[108],"alone,":[110],"without":[111],"requiring":[112],"additional":[113],"supervision":[114],"or":[115],"explicit":[116],"guidance,":[117],"significantly":[118],"improve":[119],"training":[120],"efficiency.":[121],"As":[122],"result,":[124],"trained":[126],"policy":[127],"demonstrates":[128],"robust":[129],"generalizable":[131],"in":[133],"simulation":[134],"on":[136],"hardware,":[137],"including":[138],"reliable":[139],"terrain-aware":[140],"foothold":[141],"selection,":[142],"elevated-platform":[143],"traversal,":[144,147],"competitive":[145],"sparse-foothold":[146],"largest":[150],"reported":[151],"real-world":[152],"gap":[153],"traversal":[154],"distance":[155],"1.2m":[157],"among":[158],"systems,":[162],"while":[163],"maintaining":[164],"stability":[165],"severe":[167],"disturbances":[169],"environmental":[171],"interference.":[172]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-06T00:00:00"}