{"paper":{"title":"TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Guijin Wang, Junfeng Long, Junli Ren, Yikai Liu, Yingru Dai","submitted_at":"2024-04-23T17:42:45Z","abstract_excerpt":"Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major limitation in existing works that primarily focus on avoiding obstacles. In this work, we propose TOP-Nav, a novel legged navigation framework that integrates a comprehensive path planner with Terrain awareness, Obstacle avoidance and close-loop Proprioception. TOP-Nav underscores the synergies between vision and proprioception in both path and motion planning. Wit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.15256","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2404.15256/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}