A transformer trained on proprioceptive histories estimates the positions, sizes, and mobility of up to three rectangular obstacles, including occluded ones, from a quadruped's contact interactions alone.
Efficient optimization for autonomous robotic manipulation of natural objects,
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PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter
A transformer trained on proprioceptive histories estimates the positions, sizes, and mobility of up to three rectangular obstacles, including occluded ones, from a quadruped's contact interactions alone.