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arXiv · 2603.16328

ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal

Shuo Shao·Tianchen Huang·Wei Gao·Shiwu Zhang
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Abstract

Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection architecture for perceptive traversal), which represents the environment using a horizontal elevation map for terrain geometry and a vertical distance map for traversable- space constraints. ADAPT further treats its spatial sensing range as a learnable action, enabling the policy to expand its perceptual horizon during fast motion and contract it in cluttered scenes for finer local resolution. Compared with voxel-based baselines, ADAPT drastically reduces observation dimensionality and computational overhead while substantially accelerating training. Experimentally, it achieves successful zero-shot transfer to a Unitree G1 Humanoid and signifi- cantly outperforms fixed-range baselines, yielding highly robust traversal across diverse 3D environtmental challenges.

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Shuo Shao, Tianchen Huang, Wei Gao, Shiwu Zhang. 2026-03-17. ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal. https://arxiv.org/abs/2603.16328

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