Advanced Skills by Learning Locomotion and Local Navigation End-to-End
Nikita Rudin,David Hoeller,Marko Bjelonic,Marco Hutter,Nikita Rudin,David Hoeller,Marko Bjelonic,Marco Hutter
The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity. However, by breaking down the navigation problem into these sub-tasks, we limit the robot's capabilities since the individual tasks do not consider the full solu...
