Boston Dynamics’ Spot now serves as a tour guide during the off season, while CMU’s Agile robot dog spends its time learning how to avoid obstacles at high-speed. This robot is powered by Agile But Safe (ABS), a learning-based control framework that enables agile and collision-free locomotion for quadrupedal robots.
Put simply, ABS utilizes an agile policy to execute agile motor skills amidst obstacles, while a a recovery policy prevents failures. When these two are combined, Agile is capable of achieving high-speed and collision-free navigation. Training the robot involves learning of the agile policy, the reach-avoid value network, the recovery policy, and an exteroception representation network, all in simulation.
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These trained modules can be directly deployed in the real world with onboard sensing and computation, leading to high-speed and collision-free navigation in confined indoor and outdoor spaces with both static and dynamic obstacles,” said the researchers.
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