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TactileStep is a research project (accepted at CoRL 2026) that brings sole pressure sensing into humanoid locomotion control. It targets a gap in humanoid parkour policies: terrain traversal can succeed while landings are harsh, contacts fall on foot edges, or stance is unstable. Humans regulate this through tactile feedback, which most humanoid robots lack.
The framework aligns a tactile simulation with a real pressure insole, so the policy learns from the same contact features available on hardware. During training, tactile and motion cues are used to identify foot-contact phases, and phase-aware rewards encourage safer landings and more stable stance.
Evaluated in simulation and on a real Unitree G1 humanoid across terrains (flat, slopes, stairs, platforms), it reports up to 48.8% lower peak touchdown force, up to 30.1 dB lower peak A-weighted impact noise versus a strong perceptive baseline, and up to 23.8% larger stance contact area. The project page provides videos, method and results; no code, weights or pricing were listed in the material provided. It is an academic work requiring specific insole hardware and a humanoid platform, not a packaged product.
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A system giving humanoid robots touch sensing via pressure insoles, trained on the Unitree robot. It reduces peak touchdown force by almost 50% and adds up to 24% more contact area.
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Research system using a teleoperated Unitree G1 humanoid for laparoscopic surgery, tested in dry-lab and live porcine studies.
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Research system that transfers real tennis players' motions onto a Unitree G1 humanoid for rallies and serves.
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Hardware · Unitree Robotics
Unitree G1 is a compact humanoid robot from Unitree Robotics, shown in demos following spoken commands.
