Task-conditioned epistemic uncertainty in foothold predictions enables OOD detection and up to 37% lower feasibility error in uncertainty-aware costmaps for legged robot planning.
Haptic inspection of planetary soils with legged robots.IEEE Robotics and Automation Letters, 4(2):1626–1632
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Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Task-conditioned epistemic uncertainty in foothold predictions enables OOD detection and up to 37% lower feasibility error in uncertainty-aware costmaps for legged robot planning.