# Perceptive BFM: A Perception Control Framework for Adapting Human Motion Priors to Robot Terrain

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qw74bur1vuwfxsnoo5yj33dx7
- Original: https://arxiv.org/abs/2606.08059

## Summary

The paper proposes Perceptive Behavior Foundation Model (Perceptive BFM), a terrain-aware whole-body control framework for humanoid robots that uses local terrain observations from the robot's perspective to adapt contact, posture, and timing while retaining the original kinematic reference as the behavioral interface.