Learning robust perceptive locomotion for quadrupedal robots in the wild was published in Science Robotics. We have combined proprioception with visual perception to create a locomotion controller with unprecedented versatility and robustness. The controller went on an hour-long hike up and down a mountain in Switzerland, without a single fall, completing the trail in the same time as recommended in the hiking guide for humans. It also powered all the legged robots for the winning team in the DARPA Subterranean Challenge. The key contribution is combining visual perception with proprioception. Everything is trained purely in simulation and transferred zero-shot to reality.
