FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion

תקציר מקורי באנגליתarXiv:2609.21447v2 Announce Type: replace-cross Abstract: Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to retrieve relevant terrain information from earlier observations. We present FootQuery, a perceptive locomotion framework that queries depth history using each foot's predicted next touchdown. The policy predicts touchdown locations and uncertainty from proprioception and uses these distributions, together with per-foot features, to query sparsely sampled historical depth frames. During training, realized contacts are projected into historical images to supervise retrieval at the regions where those contacts were visible. The retrieved per-foot features ar