Preprint
Sep 2026
LEAP: Learning Emergent Active Perception for Quadruped Navigation
Key to this emergence, LEAP works on a gaze-invariant representation that integrates depth images into egocentric belief maps, and it is validated that LEAP navigation policies, unchanged, can be directly applied to steering quadrupedal locomotion policies in physics simulation.
Ü. B. Gökbakan, Stéphane Caron, P. Souéres
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