Learning robust perceptive locomotion for quadrupedal robots in the wild
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- Опубликовано: 3 авг 2024
- We present a perceptive locomotion controller for quadrupedal robots that combines fast locomotion and exceptional robustness on challenging terrain.
Learn more about this work on our project website: leggedrobotics.github.io/rl-p...
Our version of paper: leggedrobotics.github.io/rl-p...
Authors: Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Published in Science Robotics: science.org/doi/10.1126/sciro...
Video by Takahiro Miki
0:00 Introduction
0:37 Hiking experiment
1:31 DARPA SubT Challenge
1:57 Monkey research
2:08 How it works
2:59 How to train
3:33 What belief state captures
4:32 Unreliable maps
5:09 Stairs
5:31 Summary Наука
Mind blowing piece of work, especially the part where robot crosses the Soft Obstacle and Deep Snow.
Fantastic! I agree, this is a very big advance for Quadrupedal Locomotion. The ability to allow the controller to 'not trust' or otherwise discount/discredit the sensor data is a very big advance. (!)
and on the lighter side... having a controller with word like: proprioception, exteroception, and having a "Belief State". That gets us all a lot closer to Star Wars -> "Uncle Owen, this droid has a bad Motivator!" :D
The deep snow is very interesting. ❄️
You guys are smashing it and it’s only the beginning 🤪
This is incredible work! Thank you for sharing this
Now let it compete against Spot by Boston Dynamics!
Awesome work ! Bring legged robot from Lab to Wild
Amazing
So this is smarter than Spot, right?
way smarter actually
That's really awesome!
Amazing work!
Thanks for the update guys. He's adorable !
Now all he needs is a fake fur cover and he'd be perfect and ready to cuddle.
Great job
This would be perfect for expeditions in destroyed nuclear power plants like Tschernobyl or Fukushima, don't you think?
太牛了!
holy cow...what's the processing power required to process this. Could I do this on a raspberry PI 4 ?
Lol you probably could it just wouldn't be very good