SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.30883v1 Announce Type: new Abstract: Partially observable locomotion requires a policy to act when task-relevant properties of the robot--environment state are not fully specified by instantaneous observations. Existing approaches often address this challenge by explicitly estimating missing physical variables or processing extended observation histories through structured architectures.