Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments

1 code implementation • 19 Sep 2022 • Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, Yuke Zhu

We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and low-level gait generation to realize the target commands.

Imitation Learning Reinforcement Learning (RL)