robotics
A Fallen Humanoid Chooses How to Rise
RISE steers heading, speed and path at inference time by planning future body states before executing a recovery.
Summary
RISE steers heading, speed and path at inference time by planning future body states before executing a recovery.
The same fallen pose can support several safe ways back to standing. RISE learns a vocabulary that links intended movements to low-level actions, then uses a visual diffusion planner to predict future body states. Task costs steer that prediction toward a requested heading, rise speed or route without retraining. The authors demonstrate varied terrain recoveries in simulation and on a Unitree G1. The work controls among learned recovery behaviors; it does not guarantee recovery from arbitrary falls.
Why it matters
RISE steers heading, speed and path at inference time by planning future body states before executing a recovery.
Limits and context
- The work controls among learned recovery behaviors; it does not guarantee recovery from arbitrary falls.
Key claims
RISE steers heading, speed and path at inference time by planning future body states before executing a recovery.
Qualification: The work controls among learned recovery behaviors; it does not guarantee recovery from arbitrary falls.
Evidence: source-2026-10-22-011
Sources
- arXiv preprint 2610.30061, original v1arXiv · primary research
Corrections
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