A waypoint-based interface between planners and a trained quadrupedal locomotion policy enables navigation over diverse obstacles in simulation and on a real robot.
IEEE transactions on cybernetics46(2), 487–498 (2015)
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Skill-Nav: Enhanced Navigation with Versatile Quadrupedal Locomotion via Waypoint Interface
A waypoint-based interface between planners and a trained quadrupedal locomotion policy enables navigation over diverse obstacles in simulation and on a real robot.