Learning robust perceptive locomotion for quadrupedal robots in the wild 

We present a perceptive locomotion controller for quadrupedal robots that combines fast locomotion and exceptional robustness on challenging terrain.
Learn more about this work on our project website: leggedrobotics.github.io/rl-p...
Our version of paper: leggedrobotics.github.io/rl-p...
Authors: Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Published in Science Robotics: science.org/doi/10.1126/sciro...
Video by Takahiro Miki
0:00 Introduction
0:37 Hiking experiment
1:31 DARPA SubT Challenge
1:57 Monkey research
2:08 How it works
2:59 How to train
3:33 What belief state captures
4:32 Unreliable maps
5:09 Stairs
5:31 Summary

Наука