6 papers
Look Forward to Walk Backward: Efficient Terrain Memory for Backward Locomotion with Forward Vision
Shixin Luo, Songbo Li, Yuan Hao +4
Legged robots with egocentric forward-facing depth cameras can couple exteroception and proprioception to achieve robust forward agility on complex terrain. When these robots walk…
START: Traversing Sparse Footholds with Terrain Reconstruction
Ruiqi Yu, Qianshi Wang, Hongyi Li +4
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and ag…
A Hierarchical Region-Based Approach for Efficient Multi-Robot Exploration
Di Meng, Tianhao Zhao, Chaoyu Xue +2
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or…
MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments
Songbo Li, Shixin Luo, Jun Wu +1
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by…
PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots
Shixin Luo, Songbo Li, Ruiqi Yu +3
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understa…
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds
Ruiqi Yu, Qianshi Wang, Yizhen Wang +3
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroce…