Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning
Chong Zhang,Lizhi Yang,Chong Zhang,Lizhi Yang
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion policies. In this paper, we prototype the generation of a terrain dataset via terrain authoring and active learning, and the learned samplers can stably generate ...
