STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain

Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile plarforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely studied for these platforms, bipedal traversability has instead relied on manually designed rules with limited consideration of locomotion stability on rough terrain. In this work, we present the first learning-based traversability estimation and risk-sensitive navigation framework for bipedal robots operating in diverse, uneven environments.

@article{yoon2025_2506.01046,
  title={ STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain },
  author={ Ziwon Yoon and Lawrence Y. Zhu and Lu Gan and Ye Zhao },
  journal={arXiv preprint arXiv:2506.01046},
  year={ 2025 }
}