ANYmal parkour: Learning agile navigation for quadrupedal robots

摘要

Performing agile navigation with four-legged robots is a challenging task because of the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. Here, we propose a fully learned approach to training such robots and conquer scenarios that are reminiscent of parkour challenges. The method involves training advanced locomotion skills for several types of obstacles, such as walking, jumping, climbing, and crouching, and then using a high-level policy to select and control those skills across the terrain. Thanks to our hierarchical formulation, the navigation policy is aware of the capabilities of each skill, and it will adapt its behavior depending on the scenario at hand. In addition, a perception module was trained to reconstruct obstacles from highly occluded and noisy sensory data and endows the pipeline with scene understanding. Compared with previous attempts, our method can plan a path for challenging scenarios without expert demonstration, offline computation, a priori knowledge of the environment, or taking contacts explicitly into account. Although these modules were trained from simulated data only, our real-world experiments demonstrate successful transfer on hardware, where the robot navigated and crossed consecutive challenging obstacles with speeds of up to 2 meters per second.