Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching

ArXi:2602.15827v2 Announce Type: replace-cross While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex environments demands not only low-level robustness, but also human-like motion expressiveness, long-horizon skill composition, and perception-driven decision-making.