Multi-Phase Vision-Based Navigation and Inspection for Legged Robots with Online Goal Refinement and Vision-Only Halting
This work introduces online detection-driven goal re-finement, which extracts target crops from the robot’s live camera stream and progressively updates the goal representation as the robot approaches the target, reducing dependence on pre-collected goal images and improving robustness to distant or low-quality detectio...
Debasish Mishra, Xiaogang Wang, Jia Hao Toh et al.
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