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Published at December 4

MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments

cs.RO

Released Date: December 4, 2024

Authors: Songbo Li¹, Shixin Luo, Jun Wu, Qiuguo Zhu

Aff.: ¹Institute of Cyber-Systems and Control, Zhejiang University

Arxiv: http://arxiv.org/pdf/2412.03353v1

Refer to caption

Skills	Commands	Success Rate
		Ours	Ours w/o C.L	Ours w/o Recon	Ours w/o C.A	Baseline
High Jump	Forward	99.7	81.2	48.2	96.5	31.1
Long Jump	Forward	99.6	50.6	49.0	91.2	7.2
Stairs Traversal	Forward	96.3	84.5	75.4	93.4	47.3
	Lateral	97.1	88.5	80.8	96.2	36.2
	Backward	99.2	98.2	98.2	98.8	61.4
Crawl	Forward	91.8	81.7	26.5	86.6	71.8
	Lateral	84.9	80.2	79.8	81.4	73.1
	Backward	89.3	83.1	88.6	87.3	74.8
Blind Crawl	Omnidirectional	80.7	75.3	65.1	71.6	66.3
Camera-offset Traversal	Forward	98.0	94.6	94.1	98.0	76.5