Seeing the next foothold is not enough; a humanoid must anticipate when its foot will land and whether the surface can support it. HC2Robot predicts contact timing, position and quality from onboard observations, approximating information available only during simulator training. A Hyper-Connection Transformer combines the temporal signals.

Mean traversal success reaches 97.60% across simulated stairs, gaps, platforms and slopes. It is a strong result for those test conditions, not proof of real-world parkour reliability. Unfamiliar surfaces and physical disturbances remain to be tested.