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.
Feasible region: An actuation-aware extension of the support region.IEEE Transactions on Robotics, 36(4):1239–1255
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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.