Preprint Open access
Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance
Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-vel …