# 迈步前预测：稀疏引导下用于动态避障的可审计占用预测

> 原文链接：https://robotics.hellobike.com/papers/2026-09-22-2609-25969
> 频道：papers | 更新日期：2026-09-22 | 标签：arxiv, cs.RO
> 核心摘要：面向稀疏路标引导下的动态避障，LOOP用递归占用预测连接引导与运动控制，并在Isaac Lab和Unitree Go2上验证。

# 迈步前预测：稀疏引导下用于动态避障的可审计占用预测

::: v-pre
> 原文链接：[Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance](https://arxiv.org/abs/2609.25969)（arXiv 2609.25969 · 发布日期：2026-09-22）

**Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance**

面向稀疏路标引导下的动态避障，LOOP用递归占用预测连接引导与运动控制，并在Isaac Lab和Unitree Go2上验证。

## 核心要点

- 问题针对腿式机器人在稀疏路标引导下，依靠局部且快速变化的LiDAR观测避开移动障碍。
- LOOP从占用与自速度历史预测1秒未来占用，并以学习流和可见性门控扭曲当前地图。
- 预测地图通过地图特征和几何风险估计指导速度选择，并提供可检查、可替换的显式预测接口。
- Isaac Lab中头向相遇成功率达57.1%，优于重训反应式基线；实机16次穿越试验均无碰撞。

**验证范围与局限**：验证限于相遇同步Isaac Lab评测，以及一台Unitree Go2上的16次真实世界穿越试验。

## 英文摘要 (Abstract)

Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-velocity histories, a recurrent predictor forecasts future occupancy over a 1 s horizon by warping the current map with learned flow and visibility gates. These maps guide velocity selection through map-derived features and geometric risk estimates, providing an explicit interface for inspecting and replacing predictions. In encounter-synchronised Isaac Lab evaluations, LOOP achieves 57.1% head-on success at obstacle speeds of 2.5-3.2 m/s, exceeding a retrained reactive baseline by 8.2 percentage points. Comparisons with a rollout-free BEV policy show smaller, scenario-dependent gains from the prediction branch, including improved crossing success and reduced variability across training seeds at the highest head-on speeds. The adapter runs onboard a Unitree Go2 in 14.5 ms per step and completes all 16 real-world crossing trials without collision, demonstrating deployment feasibility.

作者：Yuhui Mao, Fen Liu, Shenghai Yuan, Tianxin Hu, Ruimeng Liu, Rong Su
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## 原始参考来源 (Sources)

- [arXiv 2609.25969：Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance](https://arxiv.org/abs/2609.25969)