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Terrain-Grounded Imagination Keeps Gaps and Edges Exact

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The model learns only robot dynamics and queries terrain as a differentiable heightmap at every imagined step, keeping gaps and edges exact for humanoid training in sparse environments.

HumanoidWorld ModelsLocomotionSparse TerrainDifferentiable HeightmapTerrain perception
Category: humanoid
Author: @MatthiasCaro
Date: 2026-11-04T00:00:00
Duration: 41.433s
Source: https://x.com/MatthiasCaro/status/2117980846825390167
Reference: https://github.com/leggedrobotics/terrain-grounded-imagination

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