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Zukun Zhang

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Articles

Trans-Percept: robust perceptive locomotion in the wild via spatiotemporal causal transformers

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By Mingqiao Mo, Kai Shu, Zukun Zhang
| Nature Verified
Abstract The integration of exteroceptive perception with proprioceptive control has revolutionized legged robot locomotion, enabling navigation through complex, non-flat terrains. Miki et al. (2022) established a seminal paradigm by fusing vision and proprioception using Recurrent Neural Networks (RNNs) and Belief States. However, RNN-based architectures suffer from inherent limitations in modeling long-horizon dependencies and reacting to high-frequency burst noise in sensor data.
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