Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds

arXiv:2603.07400 · cs.RO · Submitted 2026-03-08 · Read on arXiv

cs.RO

Submitted: 2026-03-08

Updated: 2026-10-18

Terminology

• Divergent Component of Motion — 1× in this paper
• Planner — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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