PointWalker: Mapless Quadruped Locomotion Directly From Raw LiDAR Point Clouds

Quadruped robots deployed for inspection and field missions must cross heterogeneous terrain, from stairs, slopes, and gaps to high platforms, stepping stones, and balance beams, where safe support is sparse or see-through. Existing methods interpose a terrain map or a depth image between sensing and control.

From the abstract. Our summary is in progress.