Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Chong Zhang,Jin Jin,Jonas Frey,Nikita Rudin,Matías Mattamala,Cesar Cadena,Marco Hutter,Chong Zhang,Jin Jin,Jonas Frey,Nikita Rudin,Matías Mattamala,Cesar Cadena,Marco Hutter
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception algorithm misinterprets the scene due to limited generalization. In this paper, we model perception failures as invisible obstacles and pits, and train a reinforce...
