Corpus ID: 237492263

Learning to Navigate Sidewalks in Outdoor Environments

  title={Learning to Navigate Sidewalks in Outdoor Environments},
  author={Maksim Sorokin and Jie Tan and C. Karen Liu and Sehoon Ha},
  • M. Sorokin, Jie Tan, +1 author Sehoon Ha
  • Published 2021
  • Computer Science
  • ArXiv
Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route plan generated by public map services, while remaining on sidewalks and avoiding collisions with obstacles and pedestrians. We devise a two-staged learning framework, which first trains a teacher agent in an abstract world with privileged ground-truth… Expand

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