Learning Semantics-Aware Locomotion Skills from Human Demonstration
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan and Byron Boots
CoRL 2022, New Zealand
(paper)
Our framework adapts locomotion skills (speed and gait) based on perceived terrain semantics.
Our framework adapts locomotion skills (speed and gait) based on perceived terrain semantics.
Our framework completes an outdoor trail and uses different skill on different terrains.
Our framework completes an outdoor trail and uses different skill on different terrains.
Additional Results on Different Terrains
Additional Results on Different Terrains
Walking on Rock (0.48m/s)
Walking on Rock (0.48m/s)
Walking on Mulch (0.52m/s)
Walking on Mulch (0.52m/s)
Walking on Grass (0.64m/s)
Walking on Grass (0.64m/s)
Walking on Gravel (0.76m/s)
Walking on Gravel (0.76m/s)
Walking on Asphalt (1.3m/s)
Walking on Asphalt (1.3m/s)