Jinkai Wang

PPL: Point Cloud Supervised Proprioceptive Locomotion Reinforcement Learning for Legged Robots in Crawl Spaces

Legged locomotion in constrained spaces (called crawl spaces) is challenging. In crawl spaces, current proprioceptive locomotion learning methods are difficult to achieve traverse because only ground features are inferred. In this study, a point cloud supervised RL framework for proprioceptive locom