Tsinghua University · Humanoid Tactile Locomotion
TactileStep
A Tsinghua University framework and CoRL 2026 spotlight that adds sole pressure sensing to humanoid walking control. A lightweight tactile simulator turns rigid foot contacts into a pressure array, the policy learns from normal force, contact area and centre of pressure, and rewards that depend on gait phase encourage softer landings. On a real Unitree G1 the authors report 48.8% lower impact force on platform ascent, 30.1 dB lower peak noise on stair descent and 23.8% more contact area, with success rates held or improved, all self-reported. Code is listed as coming soon (arXiv 2609.28959).
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