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CAP is proposed, a single-stage humanoid locomotion policy that recovers this signal with a perceptive world-model encoder trained as a learned denoiser to reconstruct clean depth from a corrupted input, together with a co-active proprioceptive variational encoder that supplies depth-free body-state information.
Watch two robots hug and dance: Rhythm enables robust, physically plausible interactions between dual humanoids, bridging the gap from simulation to real-world deployment.
Humanoid robots can now traverse steps up to 20cm and gaps up to 80cm thanks to a contrastive learning approach that forces MoE experts to specialize on different terrain types.
