TactileStep: Tactile Foot Control for Humanoid Locomotion
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Loading videoTactileStep brings sole-pressure sensing into humanoid locomotion by aligning tactile simulation with a real pressure insole and using phase-aware rewards. On a Unitree G1, it cuts peak touchdown force by up to 48.8%.
TactileStepHumanoidTactile SensingLocomotionFoot-Terrain InteractionReinforcement LearningUnitree G1CoRL 2026Tactile PerceptionFootpad Pressure
Category: humanoid
Author: @YimingLi9702
Date: 2026-09-26T00:00:00
Duration: 32.367s
Reference: https://tactilestep.github.io/
