Teaching robots to walk like humans on unpredictable terrain

Humanoids navigating the real world need to see obstacles, place feet safely, and move naturally—all simultaneously. SSR combines egocentric vision with three key innovations: it predicts stable landing zones for each swing leg, uses symmetry between left and right sides to coordinate motion efficiently, and learns terrain-specific movement patterns from human demonstrations. Tested on stairs, gaps, and outdoor paths, the system produced stable, natural walking without slips or falls.