Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
Mingyo Seo,Ryan Gupta,Yifeng Zhu,Alexy Skoutnev,Luis Sentis,Yuke Zhu,Mingyo Seo,Ryan Gupta,Yifeng Zhu,Alexy Skoutnev,Luis Sentis,Yuke Zhu
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and lo...
