Click and Traverse: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes скачать в хорошем качестве

Click and Traverse: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes

A humanoid teleoperation system termed Click-and-Traverse (CAT): users could command the humanoid to traverse in cluttered indoor scenes with just a single click. Paper: Collision-Free Humanoid Traversal in Cluttered Indoor Scenes. We propose Humanoid Potential Field (HumanoidPF) for collision-free traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. we define "cluttered indoor scenes" as environments that simultaneously exhibit: 1. Full-spatial constraints: obstacles jointly present at the ground, lateral, and overhead constrains. 2. Intricate geometries: obstacles with realistic, irregular shapes that go beyond simple primitives such as rectangular blocks or regular polyhedra.