REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance
Zihao Xu, Ce Hao, Chunzheng Wang, Kuankuan Sima, Fan Shi, Jin Song Dong

TL;DR
REBot is a control framework that enables quadrupedal robots to perform real-time, reflexive obstacle avoidance in dynamic environments, overcoming the limitations of traditional trajectory replanning methods.
Contribution
This paper introduces REBot, a novel reflexive evasion control framework that combines avoidance and recovery policies for instantaneous obstacle avoidance in quadrupedal robots.
Findings
REBot significantly improves obstacle avoidance success rates.
REBot demonstrates robustness against fast-moving obstacles.
REBot achieves energy-efficient and rapid stabilization during evasion.
Abstract
Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction time and leading to fails when obstacles approach rapidly. In such scenarios, quadrupedal robots require reflexive evasion capabilities to perform instantaneous, low-latency maneuvers. This paper introduces Reflexive Evasion Robot (REBot), a control framework that enables quadrupedal robots to achieve real-time reflexive obstacle avoidance. REBot integrates an avoidance policy and a recovery policy within a finite-state machine. With carefully designed learning curricula and by incorporating regularization and adaptive rewards, REBot achieves robust evasion and rapid stabilization in instantaneous DOA tasks. We validate REBot through extensive…
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Taxonomy
TopicsRobotic Path Planning Algorithms · Human-Automation Interaction and Safety · Autonomous Vehicle Technology and Safety
