In this paper we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in attention based belief encoding for quadrupedal locomotion, our work extends these methods to the bipedal domain, resulting in a robust and reliable internal belief of the terrain ahead despite noisy sensor inputs. Additionally, we present a reward function that allows the controller to successfully traverse irregular terrain. We compare our method with a proprioceptive baseline and show that our method is able to traverse a wide variety of terrains and greatly outperforms the state-of-the-art in terms of robustness, speed and efficiency.

翻译：本文提出了一种新颖的双足运动控制器，该控制器利用带噪声的外感受感知来穿越多种地形。基于注意力机制信念编码在四足运动领域的前沿进展，我们将这些方法拓展至双足领域，从而在传感器输入存在噪声的情况下，构建出对前方地形的稳健可靠内部信念。此外，我们设计了一种奖励函数，使控制器能够成功穿越不规则地形。我们将所提方法与基于本体感知的基线方法进行比较，结果表明，我们的方法能够穿越多种地形，并在鲁棒性、速度和效率方面大幅超越现有最先进技术。