Unified Perceptive Fall Safety for Humanoids
VIGOR is a unified framework for humanoid fall safety that integrates mitigation and recovery into one vision-conditioned policy. It uses a teacher model trained on sparse demonstrations to distill knowledge into a student that predicts a 'goal-in-context' latent. This latent combines the target pose with local terrain information, allowing the robot to perform coordinated whole-body reactions robustly across diverse environments.