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.
Pronav: Proprioceptive traversability estimation for legged robot navigation in outdoor environments.IEEE Robotics and Au- tomation Letters, 9(8):7190–7197
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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.