Task-conditioned epistemic uncertainty in foothold predictions enables OOD detection and up to 37% lower feasibility error in uncertainty-aware costmaps for legged robot planning.
Rloc: Terrain-aware legged locomotion using re- inforcement learning and optimal control.IEEE Transactions on Robotics, 38(5):2908–2927
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Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Task-conditioned epistemic uncertainty in foothold predictions enables OOD detection and up to 37% lower feasibility error in uncertainty-aware costmaps for legged robot planning.