VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning
Kasun Weerakoon,Adarsh Jagan Sathyamoorthy,Mohamed Elnoor,Dinesh Manocha,Kasun Weerakoon,Adarsh Jagan Sathyamoorthy,Mohamed Elnoor,Dinesh Manocha
We present VAPOR, a novel method for autonomous legged robot navigation in unstructured, densely vegetated outdoor environments using offline Reinforcement Learning (RL). Our method trains a novel RL policy using an actor-critic network and arbitrary data collected in real outdoor vegetation. Our policy uses height and intensity-based cost maps derived from 3D LiDAR point clouds, a goal cost map, ...
