GUIDE: Goal-Initialized Directional Understanding for End-to-End Legged Navigation

arXiv:2606.10832 · cs.RO · Submitted 2026-06-09 · Read on arXiv

cs.RO

Submitted: 2026-06-09

Updated: 2026-09-24

Project page: https://guide-navigation.github.io

Terminology

• Reinforcement Learning — 20× in this paper · explained in 4 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 6× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 6× in this paper
• Ablation — 5× in this paper · explained in 1 episode
• Actor — 5× in this paper · explained in 3 episodes
• Reward Function — 4× in this paper · explained in 2 episodes
• Success Rate — 4× in this paper
• Accuracy — 3× in this paper · explained in 1 episode
• Collision Rate — 3× in this paper
• Arrival Time — 2× in this paper
• Computational overhead — 2× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Proximal Policy Optimization — 2× in this paper
• Quantization — 2× in this paper · explained in 12 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Active Perception — 1× in this paper · explained in 2 episodes
• Actor-Critic Architecture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments
• REASAN: Learning Reactive Safe Navigation for Legged Robots
• Goal-Conditioned Reinforcement Learning: Problems and Solutions
• Proximal Policy Optimization Algorithms
• PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
• High-Dimensional Continuous Control Using Generalized Advantage Estimation

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