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Legged Locomotion in Challenging Terrain using Egocentric Vision
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Legged Locomotion in Challenging Terrain using Egocentric Vision Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal * 1 Ashish Kumar * 2 Jitendra Malik † 2 Deepak Pathak † 1 1 Carnegie Mellon University 2 UC Berkeley CoRL 2022 Best Systems Paper Award Paper arXiv Reviews Video Summary Abstract Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning phases. The elevation mapping, however, is susceptible to failure and large noise artifacts, requires specialized hardware, and is biologically implausible. In this paper, we present the first end-to-end locomotion system capable of traversing stairs, curbs, stepping stones, and gaps. We show this result on a medium-sized quadruped robot using a single front-...
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