@article{omnidirectionalhumanoidlocomotiononstair,
  title = {Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping},
  author = {Yuzhi Jiang and Yujun Liang and Junhao Li and Han Ding and Lijun Zhu},
  year = {2026},
  eprint = {2603.07928},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.07928},
}