ICRA 2026 Paper:

Real-time and efficient polygonal mapping designed for humanoid robots.

Demo

Simulated Stair-Climbing Experiment

Real-World Stair-Climbing Experiment

Install

Requirements

• Tested on Ubuntu 20.04 / ROS Noetic

Dependencies

This package depends on

• ocs2
• cupy
• ...

Installation procedure

It is assumed that ROS is installed.

1. Clone to your catkin_ws

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone ocshttps://github.com/wine3603/Polygmap.git

2. Install dependent packages.

3. Build a package.

cd catkin_ws
catkin config -DCMAKE_ASM_COMPILER=/usr/bin/as -DCMAKE_BUILD_TYPE=Release # Important! 
source installed/setup.bash # 加载一些已经安装的ROS包依赖环境，包括硬件包等
catkin build

Running on Gazebo

roslaunch humanoid_controllers load_kuavo_gazebo_sim.launch run_polygon_mapping:=true

Now, you can run the test case with the following command:

rosrun humanoid_interface_ros simStepControlSwingTest.py

or

rosrun humanoid_controllers stairClimbPlanner1.py

Citing

If you find this code useful in your research, please consider citing our paper: PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing

@article{li2025polygmap,
  title={PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing},
  author={Li, Bingquan and Wang, Ning and Zhang, Tianwei and He, Zhicheng and Wu, Yucong},
  journal={arXiv preprint arXiv:2510.12346},
  year={2025}
}