APREBot: Active Perception System for Reflexive Evasion Robot
Fuente:
arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
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| _version_ | 1866908565824864256 |
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| author | Xu, Zihao Sima, Kuankuan Deng, Junhao Zhuang, Zixuan Wang, Chunzheng Hao, Ce Dong, Jin Song |
| author_facet | Xu, Zihao Sima, Kuankuan Deng, Junhao Zhuang, Zixuan Wang, Chunzheng Hao, Ce Dong, Jin Song |
| contents | Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR provides omnidirectional coverage but lacks rich texture information, while cameras capture high-resolution detail but suffer from restricted field of view. We introduce APREBot (Active Perception System for Reflexive Evasion Robot), a novel framework that integrates reflexive evasion with active hierarchical perception. APREBot strategically combines LiDAR-based omnidirectional scanning with camera-based active focusing, achieving comprehensive environmental awareness essential for agile obstacle avoidance in quadruped robots. We validate APREBot through extensive sim-to-real experiments on a quadruped platform, evaluating diverse obstacle types, trajectories, and approach directions. Our results demonstrate substantial improvements over state-of-the-art baselines in both safety metrics and operational efficiency, highlighting APREBot's potential for dependable autonomy in safety-critical scenarios. Videos are available at https://sites.google.com/view/aprebot/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_24733 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | APREBot: Active Perception System for Reflexive Evasion Robot Xu, Zihao Sima, Kuankuan Deng, Junhao Zhuang, Zixuan Wang, Chunzheng Hao, Ce Dong, Jin Song Robotics Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR provides omnidirectional coverage but lacks rich texture information, while cameras capture high-resolution detail but suffer from restricted field of view. We introduce APREBot (Active Perception System for Reflexive Evasion Robot), a novel framework that integrates reflexive evasion with active hierarchical perception. APREBot strategically combines LiDAR-based omnidirectional scanning with camera-based active focusing, achieving comprehensive environmental awareness essential for agile obstacle avoidance in quadruped robots. We validate APREBot through extensive sim-to-real experiments on a quadruped platform, evaluating diverse obstacle types, trajectories, and approach directions. Our results demonstrate substantial improvements over state-of-the-art baselines in both safety metrics and operational efficiency, highlighting APREBot's potential for dependable autonomy in safety-critical scenarios. Videos are available at https://sites.google.com/view/aprebot/ |
| title | APREBot: Active Perception System for Reflexive Evasion Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.24733 |