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MarkFzp / navigation-locomotion

[CVPR 2022] Codebase for "Coupling Vision and Proprioception for Navigation of Legged Robots"
https://navigation-locomotion.github.io/
Apache License 2.0
86 stars 9 forks source link

Two questions about the project #2

Closed Hourse-xing closed 1 year ago

Hourse-xing commented 1 year ago

Dear author, I have two questions for you. First, I would like to ask what computing platform is used in this project. Can you tell me in detail? Is it Jetson Xavier NX? Second, I want to ask whether there is no reinforcement learning code in this project. For example, the obstacle_detector.py and terrain_detector.py in the plan_cts_pid file only have interfaces to receive whether obstacles are encountered or whether speed should be limited. But there is no code in the plan_cts_pid file to judge the motion state of the robot in the previous step.

MarkFzp commented 1 year ago

Thanks for your interests!

  1. We ran the algorithm on a Jetson NX of the A1
  2. right now we didn't have a nice way to release robot policy since it depends on many onboard c++ codes and sdks. will let you know when it's released