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CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots

Announce Type: replace Abstract: Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Similarly, legged robots need to develop their ability to stably walk on complex terrains by developing an understanding of the relationship between vision and proprioception. Most current terrain-adaptation methods remain susceptible to failure on complex off-road terrain because they...