# HC2Robot: Multi-Terrain Humanoid Parkour with Predicted Foresight and Hyper-Connection Transformers

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qf4jd8egx8fmm6yemendnf7fb
- Original: https://arxiv.org/abs/2610.36825

## Summary

HC2Robot proposes a deployable perceptive humanoid parkour framework composed of a Predicted Foresight Module (PFM) and a Hyper-Connection (HC) Transformer. The PFM predicts, from deployable observations, the timing, location, and support quality of each foot's next touchdown event, converting privileged supervision into a deployable latent representation.