2025
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajgopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar +2
IROS 2025
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear accelerations, angular velocities, and joint efforts. These fused representations are used to continuously adjust two c