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.
Hierar- chical vision navigation system for quadruped robots with foothold adap- tation learning.Sensors, 23(11):5194, 2023
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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.