Omni-Perception is an end-to-end RL policy for legged robots that processes raw LiDAR point clouds with PD-RiskNet to achieve omnidirectional collision avoidance, validated in simulation and on a Unitree G1.
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Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
Omni-Perception is an end-to-end RL policy for legged robots that processes raw LiDAR point clouds with PD-RiskNet to achieve omnidirectional collision avoidance, validated in simulation and on a Unitree G1.