HiPAN enables quadruped robots to navigate unstructured 3D environments more successfully by combining a high-level posture-adaptive policy with a low-level controller and curriculum learning on depth images.
Perceptive whole-body planning for multilegged robots in confined spaces,
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HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments
HiPAN enables quadruped robots to navigate unstructured 3D environments more successfully by combining a high-level posture-adaptive policy with a low-level controller and curriculum learning on depth images.