robotics
The Fallen Humanoid Learns to Make Room First
ROOF rewards a robot for reducing overlap with an overhead obstacle before standing, lifting simulated recovery from 18.9 to 88.5 percent in one setting.
Summary
ROOF rewards a robot for reducing overlap with an overhead obstacle before standing, lifting simulated recovery from 18.9 to 88.5 percent in one setting.
A humanoid trapped beneath furniture cannot simply execute a standard stand-up motion; it must create clearance while building stable support. ROOF supplies contact-supported geometric guidance that rewards reducing robot-obstacle overlap without prescribing an escape path, then combines it with a learned motion prior and posture-aware support and joint-stall costs. In simulation beneath lift-only plates, recovery reached 88.5 percent versus 18.9 percent without the geometric guidance; beneath freely moving randomized plates it reached 98.6 percent. A Unitree G1 recovered in 95 of 150 attempts across seven real obstacle scenes. The real-world success rate also shows the remaining gap, and the policy was tested on one hardware platform.
Why it matters
ROOF rewards a robot for reducing overlap with an overhead obstacle before standing, lifting simulated recovery from 18.9 to 88.5 percent in one setting.
Limits and context
- A humanoid trapped beneath furniture cannot simply execute a standard stand-up motion; it must create clearance while building stable support.
- In simulation beneath lift-only plates, recovery reached 88.5 percent versus 18.9 percent without the geometric guidance; beneath freely moving randomized plates it reached 98.6 percent.
Key claims
ROOF rewards a robot for reducing overlap with an overhead obstacle before standing, lifting simulated recovery from 18.9 to 88.5 percent in one setting.
Qualification: A humanoid trapped beneath furniture cannot simply execute a standard stand-up motion; it must create clearance while building stable support.
Evidence: source-2026-11-02-013
Sources
- arXiv preprint 2610.42097, original v1arXiv · primary research
Corrections
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