Let Humanoids Hike! Integrative Skill Development on Complex Trails

Trail's End c) Diverse Motor Skills d) Embodied Navigation Figure 1: We propose training humanoids to hike complex trails, driving integrative skill development across visual perception, decision-making, and motor execution. Center: The humanoid robot (H1) a) equipped with vision, learns to b) anticipate near-future local goals to guide locomotion along the trail with self-autonomy. Bubble size (large → small) indicates anticipated goal direction; color shows temporal order (orange → green → forest). Left: Our LEGO-H framework is universal to different humanoid robots (e.g., G1, a smaller robot) to adaptively c) emerge diverse motor skills, and d) develop embodied path exploration strategies to hike on trails with varied terrains and obstacles.