ViNL: Visual Navigation and Locomotion Over Obstacles
Simar Kareer,Naoki Yokoyama,Dhruv Batra,Sehoon Ha,Joanne Truong,Simar Kareer,Naoki Yokoyama,Dhruv Batra,Sehoon Ha,Joanne Truong
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans and pets lift their feet over objects as they walk. ViNL consists of: (1) a visual navigation policy that outputs linear and angular velocity commands that guide...
