Pinned
AME2 has got two follow-ups which can significantly improve training efficiency, performance, and generalization. I think the training cost can be reduced to (not by) 20% now.
1) active gaze arxiv.org/abs/2606.05880
2) sparsify attention arxiv.org/abs/2606.00637
releasing AME2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
arxiv.org/abs/2601.08485
In this work, we discuss how to achieve a combination of generalization and agility in legged locomotion, and propose a general solution.
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arxiv.org
TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile...
Agile humanoid locomotion across diverse challenging terrain demands both wide perceptual coverage and precise local geometry understanding. Motivated by the way humans selectively look at...
