STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain
IEEE Robotics and Automation Letters, vol. 11, no. 2, pp. 2338–2345
STATE-NAV learns locomotion instability from terrain and commanded motion, defines traversability as a stability-aware command velocity, and integrates that velocity into a hierarchical planner. The approach was validated in MuJoCo and on the Digit biped.