[Submitted on 16 Sep 2026]
Title:Learning Safe Humanoid Navigation from Reduced Order Models
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Abstract:Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boundary on autonomous navigation. We demonstrate that a standard single-stage RL navigation pipeline struggles to scale to multi-level and multi-story terrain, limited by the difficulty of complex humanoid terrain interactions such as stairs. To overcome this challenge, we decompose the navigation problem into two pieces. First, we train a policy operating on the reduced order dynamics but with full 3D LiDAR observations to navigate complex, multi-story terrain. We then utilize this navigation knowledge to kickstart a policy operating on the full-order humanoid dynamics, with a frozen locomotion policy in the loop. Additionally, we demonstrate that applying a Poisson safety filter to the navigation policy output recovers safety in the presence of out-of-distribution obstacles, without dropping navigation success rate. We demonstrate the resulting RoM-Nav policy on a Unitree G1, accomplishing mapless multi-floor navigation covering trials with over 10m of vertical displacement and over 100m of path length. Project page with videos this https URL .
Comments: 8 pages, 6 figures, under review for ICRA 2027
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.19272 [cs.RO]
(or arXiv:2609.19272v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.19272
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: William Compton IIi [view email] [v1] Wed, 16 Sep 2026 18:00:05 UTC (24,125 KB)
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