{
  "id": "2505.06218",
  "version": "v1",
  "published": "2025-05-09T17:53:02.000Z",
  "updated": "2025-05-09T17:53:02.000Z",
  "title": "Let Humanoids Hike! Integrative Skill Development on Complex Trails",
  "authors": [
    "Kwan-Yee Lin",
    "Stella X. Yu"
  ],
  "comment": "CVPR 2025. Project page: https://lego-h-humanoidrobothiking.github.io/",
  "categories": [
    "cs.RO",
    "cs.AI",
    "cs.CV"
  ],
  "abstract": "Hiking on complex trails demands balance, agility, and adaptive decision-making over unpredictable terrain. Current humanoid research remains fragmented and inadequate for hiking: locomotion focuses on motor skills without long-term goals or situational awareness, while semantic navigation overlooks real-world embodiment and local terrain variability. We propose training humanoids to hike on complex trails, driving integrative skill development across visual perception, decision making, and motor execution. We develop a learning framework, LEGO-H, that enables a vision-equipped humanoid robot to hike complex trails autonomously. We introduce two technical innovations: 1) A temporal vision transformer variant - tailored into Hierarchical Reinforcement Learning framework - anticipates future local goals to guide movement, seamlessly integrating locomotion with goal-directed navigation. 2) Latent representations of joint movement patterns, combined with hierarchical metric learning - enhance Privileged Learning scheme - enable smooth policy transfer from privileged training to onboard execution. These components allow LEGO-H to handle diverse physical and environmental challenges without relying on predefined motion patterns. Experiments across varied simulated trails and robot morphologies highlight LEGO-H's versatility and robustness, positioning hiking as a compelling testbed for embodied autonomy and LEGO-H as a baseline for future humanoid development.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2025-05-09T17:53:02.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "integrative skill development",
      "complex trails",
      "humanoids hike",
      "humanoid research remains",
      "robot morphologies highlight lego-hs versatility"
    ],
    "tags": [
      "github project"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}