QuadPiPS combines semantic affordance prediction with an egocentric legged egocan representation and trajectory optimization to produce kinodynamically feasible foothold plans that outperform baselines in limited-foothold settings and run on hardware.
Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot,
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QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction
QuadPiPS combines semantic affordance prediction with an egocentric legged egocan representation and trajectory optimization to produce kinodynamically feasible foothold plans that outperform baselines in limited-foothold settings and run on hardware.