Method

Control

Perception

We repurpose the neural mapping from our prior work, Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding, for a head-mounted LiDAR (Livox MID‑360). It runs onboard on the Jetson Orin NX CPU, updating within 30 ms per 10 Hz scan of 20,000 points at a 3 cm grid resolution, alongside odometry and the policy.