robotics
One Humanoid Planner Learned to Step, Squeeze and Duck
Scaling scene-aligned motion data from six to 100 hours raised held-out contact-free success from 48.1% to 68.9%.
Summary
Scaling scene-aligned motion data from six to 100 hours raised held-out contact-free success from 48.1% to 68.9%.
PASSAGE pairs a perception-conditioned motion planner with a whole-body tracker, avoiding separate policies for stepping over, squeezing past and ducking under obstacles. The team collected 100 hours of human motion across 1,500 cluttered scenes. Across three seeds, increasing captured data from six to 100 hours raised mean contact-free success on held-out scenes from 48.1% to 68.9%; validated scene augmentation brought the final model to 70.3%. An onboard system combined LiDAR mapping, 6.25-hertz planning and 50-hertz control on a Jetson AGX Orin across 50 unseen physical layouts.
Why it matters
Scaling scene-aligned motion data from six to 100 hours raised held-out contact-free success from 48.1% to 68.9%.
Limits and context
No additional limitation was separately recorded.
Key claims
Scaling scene-aligned motion data from six to 100 hours raised held-out contact-free success from 48.1% to 68.9%.
Evidence: source-2026-09-17-015
Sources
- arXiv preprint 2609.18732arXiv · primary research
Corrections
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