# Watch Your Step: A perception method that anticipates footholds improves humanoid terrain locomotion

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gbgfmf70lsmk7eda7edkog5b3
- Original: https://arxiv.org/abs/2610.29612

## Summary

The arXiv paper Watch Your Step proposes a lightweight foothold prediction model (FPM) that predicts future footholds from proprioception and velocity commands alone, and samples the elevation map only around those footholds, letting perception anticipate foot placement ahead of the policy.